Find Nodes

SUMMARY

find_nodes searches the tree for one or more frames by name and returns a dict keyed by name, so a Skill can check whether a frame exists before acting on it.

The Skill

found = tree.find_nodes(["world", "camera"])

The Code

"""
Example of TransformTree.find_nodes.
"""

from loguru import logger

from telekinesis.tf import tftree


def main():
    """
    Look up one or more nodes in the tree by name.
    """
    tree = tftree.TransformTree("world")
    tree.add("world", "camera", [0, 0, 1, 0, 0, 0], rot_type="deg")

    found = tree.find_nodes(["world", "camera", "does_not_exist"])
    logger.info(f"Found nodes: {list(found.keys())}")

if __name__ == "__main__":
    main()

Parameter Configuration

Parameter	Type	Default	Description
node_names	list[str]	required	Names of the frames to look up. Names not found in the tree are simply absent from the result.

Returns

Type	Description
dict	The found nodes, keyed by name.

Raises

Exception	Condition
ValueError	node_names is not a list.
ValueError	An element of node_names is not a string.