server.spatial_object.SpatialObject

class documentation

class SpatialObject(UaObject):

Constructor: SpatialObject(name, position_frame, **kwargs)

Spatial Object contains a PositionFrame and further CartesianFrame can be attached.

See OPC UA Relative Spatial Location specification.

Method	`__init__`	Cooperative constructor.
Async Method	`add_alternative_frame`	Add a new `CartesianFrame` with given pose to the spatial object as an `AlternativeFrame`.
Async Method	`add_attach_point`	Add a new `CartesianFrame` with given pose to the spatial object as an `AttachPoint`.
Async Method	`add_internal_frame`	Add a new `CartesianFrame` with given pose to the spatial object as an `InternalFrame`.
Async Method	`lifecycle_spatial_object`	Initialize the spatial object.
Instance Variable	`alternative_frames`	Undocumented
Instance Variable	`attach_points`	Undocumented
Instance Variable	`internal_frames`	Undocumented
Instance Variable	`position_frame`	Undocumented
Async Method	`_get_definition`	Undocumented
Instance Variable	`_identifier`	Undocumented

def __init__(self, *, name: str | None = None, position_frame: PositionFrame, **kwargs): ¶

Cooperative constructor.

async def add_alternative_frame(self, initial_pose: Pose, *, name: str = 'SpatialObject', initial_base: CartesianFrame | ua.NodeId | None = None) -> CartesianFrame: ¶

Add a new CartesianFrame with given pose to the spatial object as an AlternativeFrame.

Alternative frames are used to provide additional location information with respect to other coordinate systems described within the same SpatialObjectList.

Parameters
initial_pose:`Pose`	Initial pose of the new frame.
name:`str`	(Optional) name of the new frame.
initial_base:`CartesianFrame \| ua.NodeId \| None`	(Optional) initial base of the new frame. `None` means to use the PositionFrame of the spatial object.

Returns
`CartesianFrame`	Undocumented

async def add_attach_point(self, initial_pose: Pose, *, name: str = 'SpatialObject', initial_base: CartesianFrame | ua.NodeId | None = None) -> CartesianFrame: ¶

Add a new CartesianFrame with given pose to the spatial object as an AttachPoint.

Attach points define positions on the parent object where other objects can be attached.

Parameters
initial_pose:`Pose`	Initial pose of the new frame.
name:`str`	(Optional) name of the new frame.
initial_base:`CartesianFrame \| ua.NodeId \| None`	(Optional) initial base of the new frame. `None` means to use the PositionFrame of the spatial object.

Returns
`CartesianFrame`	Undocumented

async def add_internal_frame(self, initial_pose: Pose, *, name: str = 'SpatialObject', initial_base: CartesianFrame | ua.NodeId | None = None) -> CartesianFrame: ¶

Add a new CartesianFrame with given pose to the spatial object as an InternalFrame.

Internal frames define positions or frames, which are of interest for the parent object, but may not be used as AttachPoints.

Parameters
initial_pose:`Pose`	Initial pose of the new frame.
name:`str`	(Optional) name of the new frame.
initial_base:`CartesianFrame \| ua.NodeId \| None`	(Optional) initial base of the new frame. `None` means to use the PositionFrame of the spatial object.

Returns
`CartesianFrame`	Undocumented

@lifecycle

async def lifecycle_spatial_object(self) -> AsyncGenerator[None]: ¶

Initialize the spatial object.

alternative_frames: FrameFolder = ¶

Undocumented

attach_points: FrameFolder = ¶

Undocumented

internal_frames: FrameFolder = ¶

Undocumented

position_frame: PositionFrame = ¶

Undocumented

@override

async def _get_definition(self) -> UaObjectDefinition: ¶

Undocumented

_identifier = ¶

Undocumented