42 | posetree
43 | 44 | 45 | 46 | 47 | 48 | 49 |1from .pose import Transform, Pose, PoseTree, CustomFramePoseTree
50 | 1from .pose import Transform, Pose, PoseTree, CustomFramePoseTree
50 | posetree is a module for representing and manipulating poses in 3D space. There are two main classes: Pose and PoseTree.
A Pose is an immutable location and orientation in 3D space, relative to a frame (i.e. 1 meter forward in X from the robot base).
A PoseTree is a object that keeps track of frames as they change over time, so that poses can know how to transform themselves into other frames, \nand do math operations with poses in different frames at particular points in time. You will need to subclass PoseTree to hook it up to your robot's\nodometry system.
A Pose is an immutable location and orientation in 3D space.\nA pose is defined with a parent_frame (where to start) and a transform (how to get to the pose from the parent frame).
Note: While a Pose is immutable, the parent frame can (and does!) change over time relative to other frames, meaning that an individual pose can move relative\nto other frames. (For example a pose defined in the \"robot\" frame will conceptually move as the robot moves relative to a 'world'\nframe, even though its position and orientation remain immutably constant.)
\n"}, {"fullname": "posetree.pose.Pose.__init__", "modulename": "posetree.pose", "qualname": "Pose.__init__", "kind": "function", "doc": "Create a pose from a transform, frame, and pose tree.
\n\nCreate a pose from a position and quaternion.
\n\n\n\n", "signature": "(\tcls,\tposition: Sequence[float],\tquaternion: Sequence[float],\tparent_frame: str,\tpose_tree: posetree.pose.PoseTree) -> posetree.pose.Pose:", "funcdef": "def"}, {"fullname": "posetree.pose.Pose.from_position_and_rotation", "modulename": "posetree.pose", "qualname": "Pose.from_position_and_rotation", "kind": "function", "doc": "A new Pose.
\n
Create a transform from a position and rotatoin.
\n\n\n\n", "signature": "(\tcls,\tposition: Sequence[float],\trotation: scipy.spatial.transform._rotation.Rotation,\tparent_frame: str,\tpose_tree: posetree.pose.PoseTree) -> posetree.pose.Pose:", "funcdef": "def"}, {"fullname": "posetree.pose.Pose.transform", "modulename": "posetree.pose", "qualname": "Pose.transform", "kind": "variable", "doc": "A new Pose.
\n
The transform from the parent frame to the pose.
\n", "annotation": ": posetree.pose.Transform"}, {"fullname": "posetree.pose.Pose.position", "modulename": "posetree.pose", "qualname": "Pose.position", "kind": "variable", "doc": "The position of the pose relative to the parent frame.
\n", "annotation": ": numpy.ndarray"}, {"fullname": "posetree.pose.Pose.rotation", "modulename": "posetree.pose", "qualname": "Pose.rotation", "kind": "variable", "doc": "The rotation of the pose relative to the parent frame.
\n", "annotation": ": scipy.spatial.transform._rotation.Rotation"}, {"fullname": "posetree.pose.Pose.frame", "modulename": "posetree.pose", "qualname": "Pose.frame", "kind": "variable", "doc": "The parent frame of the pose.
\n", "annotation": ": str"}, {"fullname": "posetree.pose.Pose.pose_tree", "modulename": "posetree.pose", "qualname": "Pose.pose_tree", "kind": "variable", "doc": "The PoseTree object containing the world that the pose exists in.
\n", "annotation": ": posetree.pose.PoseTree"}, {"fullname": "posetree.pose.Pose.x", "modulename": "posetree.pose", "qualname": "Pose.x", "kind": "variable", "doc": "The x coordinate of the position.
\n", "annotation": ": float"}, {"fullname": "posetree.pose.Pose.y", "modulename": "posetree.pose", "qualname": "Pose.y", "kind": "variable", "doc": "The y coordinate of the position.
\n", "annotation": ": float"}, {"fullname": "posetree.pose.Pose.z", "modulename": "posetree.pose", "qualname": "Pose.z", "kind": "variable", "doc": "The z coordinate of the position.
\n", "annotation": ": float"}, {"fullname": "posetree.pose.Pose.x_axis", "modulename": "posetree.pose", "qualname": "Pose.x_axis", "kind": "variable", "doc": "The x axis of the pose.
\n", "annotation": ": numpy.ndarray"}, {"fullname": "posetree.pose.Pose.y_axis", "modulename": "posetree.pose", "qualname": "Pose.y_axis", "kind": "variable", "doc": "The y axis of the pose.
\n", "annotation": ": numpy.ndarray"}, {"fullname": "posetree.pose.Pose.z_axis", "modulename": "posetree.pose", "qualname": "Pose.z_axis", "kind": "variable", "doc": "The z axis of the pose.
\n", "annotation": ": numpy.ndarray"}, {"fullname": "posetree.pose.Pose.in_frame", "modulename": "posetree.pose", "qualname": "Pose.in_frame", "kind": "function", "doc": "Return a new pose representing the same location in space expressed in a different frame.
\n\n\n\n", "signature": "(\tself,\tparent_frame: str,\ttimestamp: Optional[float] = None) -> posetree.pose.Pose:", "funcdef": "def"}, {"fullname": "posetree.pose.Pose.with_position", "modulename": "posetree.pose", "qualname": "Pose.with_position", "kind": "function", "doc": "A new pose with the same transform but in a different frame.
\n
Return a new pose with the same rotation but a different location relative to the parent frame.
\n\n\n\n", "signature": "(self, position: Sequence[float]) -> posetree.pose.Pose:", "funcdef": "def"}, {"fullname": "posetree.pose.Pose.with_rotation", "modulename": "posetree.pose", "qualname": "Pose.with_rotation", "kind": "function", "doc": "A new pose with the same rotation but a different location.
\n
Return a new pose with the same location but a different rotation.
\n\n\n\n", "signature": "(\tself,\trotation: scipy.spatial.transform._rotation.Rotation) -> posetree.pose.Pose:", "funcdef": "def"}, {"fullname": "posetree.pose.Pose.with_rotation_matching", "modulename": "posetree.pose", "qualname": "Pose.with_rotation_matching", "kind": "function", "doc": "A new pose with the same location but a different rotation.
\n
Return a new pose with the same position but a different orientation, matching another pose.
\n\nThis method is frame aware, so even if the other pose has a different frame, the rotation will be matched correctly.
\n\n\n\n", "signature": "(self, other: posetree.pose.Pose) -> posetree.pose.Pose:", "funcdef": "def"}, {"fullname": "posetree.pose.Pose.with_position_x", "modulename": "posetree.pose", "qualname": "Pose.with_position_x", "kind": "function", "doc": "A new pose with the same position but a different orientation.
\n
Return a new pose with the same y and z coordinates but a different x coordinate.
\n\n\n\n", "signature": "(self, x: float, *, frame: Optional[str] = None) -> posetree.pose.Pose:", "funcdef": "def"}, {"fullname": "posetree.pose.Pose.with_position_y", "modulename": "posetree.pose", "qualname": "Pose.with_position_y", "kind": "function", "doc": "A new pose with the same y and z coordinates but a different x coordinate.
\n
Return a new pose with the same x and z coordinates but a different y coordinate.
\n\n\n\n", "signature": "(self, y: float, *, frame: Optional[str] = None) -> posetree.pose.Pose:", "funcdef": "def"}, {"fullname": "posetree.pose.Pose.with_position_z", "modulename": "posetree.pose", "qualname": "Pose.with_position_z", "kind": "function", "doc": "A new pose with the same x and z coordinates but a different y coordinate.
\n
Return a new pose with the same x and y coordinates but a different z coordinate.
\n\n\n\n", "signature": "(self, z: float, *, frame: Optional[str] = None) -> posetree.pose.Pose:", "funcdef": "def"}, {"fullname": "posetree.pose.Pose.apply_transform", "modulename": "posetree.pose", "qualname": "Pose.apply_transform", "kind": "function", "doc": "A new pose with the same x and y coordinates but a different z coordinate.
\n
Return a new pose transformed by a transform.
\n\nThis method is provided to give compatibility with systems that talk about poses in terms of transforms,\nbut it is usually more readable and debuggable to use a rotate/translate method instead.
\n\n\n\n", "signature": "(self, transform: posetree.pose.Transform) -> posetree.pose.Pose:", "funcdef": "def"}, {"fullname": "posetree.pose.Pose.translate", "modulename": "posetree.pose", "qualname": "Pose.translate", "kind": "function", "doc": "A new pose transformed by a transform.
\n
Return a new pose translated by a vector.
\n\nThe translation is relative to the basis of the pose being translated (i.e body-fixed) rather than the parent frame.\nThat means that
\n\np2 = p1.translate((1, 0, 0))\nand
\n\np2 = p1.in_frame("some_other_frame").translate((1, 0, 0)).in_frame(p1.frame)\nare identical, because the parent frame of a pose does not affect its translation.
\n\n\n\n", "signature": "(\tself,\ttranslation: Sequence[float],\t*,\tframe: str = None) -> posetree.pose.Pose:", "funcdef": "def"}, {"fullname": "posetree.pose.Pose.rotate_about_axis", "modulename": "posetree.pose", "qualname": "Pose.rotate_about_axis", "kind": "function", "doc": "A new pose translated by a vector.
\n
Return a new pose rotated about an axis.
\n\nThis is rotated in the basis of the pose being rotated (i.e body-fixed) rather than the parent frame, and it only\nrotates the orientation. This is not a rotation about the origin, but a change of the orientation of the pose.
\n\nIf you pass a frame, the axis will be interpreted as being expressed in that frame.
\n\n\n\n", "signature": "(\tself,\taxis: Sequence[float],\tangle: float,\t*,\tdegrees: bool = False,\tframe: Optional[str] = None) -> posetree.pose.Pose:", "funcdef": "def"}, {"fullname": "posetree.pose.Pose.rotate_about_x", "modulename": "posetree.pose", "qualname": "Pose.rotate_about_x", "kind": "function", "doc": "A new pose with the same location but rotated about an axis.
\n
Return a new pose rotated about the x axis.
\n\n\n\n", "signature": "(\tself,\tangle: float,\t*,\tdegrees: bool = False,\tframe: Optional[str] = None) -> posetree.pose.Pose:", "funcdef": "def"}, {"fullname": "posetree.pose.Pose.rotate_about_y", "modulename": "posetree.pose", "qualname": "Pose.rotate_about_y", "kind": "function", "doc": "A new pose with the same location but rotated about the x axis.
\n
Return a new pose rotated about the y axis.
\n\n\n\n", "signature": "(\tself,\tangle: float,\t*,\tdegrees: bool = False,\tframe: Optional[str] = None) -> posetree.pose.Pose:", "funcdef": "def"}, {"fullname": "posetree.pose.Pose.rotate_about_z", "modulename": "posetree.pose", "qualname": "Pose.rotate_about_z", "kind": "function", "doc": "A new pose with the same location but rotated about the y axis.
\n
Return a new pose rotated about the z axis.
\n\n\n\n", "signature": "(\tself,\tangle: float,\t*,\tdegrees: bool = False,\tframe: Optional[str] = None) -> posetree.pose.Pose:", "funcdef": "def"}, {"fullname": "posetree.pose.Pose.point_x_at", "modulename": "posetree.pose", "qualname": "Pose.point_x_at", "kind": "function", "doc": "A new pose with the same location but rotated about the z axis.
\n
Return a new pose rotated to point the x axis at a target pose.
\n\n\n\n", "signature": "(\tself,\ttarget: posetree.pose.Pose,\tfixed_axis: str = None) -> posetree.pose.Pose:", "funcdef": "def"}, {"fullname": "posetree.pose.Pose.point_y_at", "modulename": "posetree.pose", "qualname": "Pose.point_y_at", "kind": "function", "doc": "A new pose with the same location but rotated to point the x axis at a target pose.
\n
Return a new pose rotated to point the y axis at a target pose.
\n\n\n\n", "signature": "(\tself,\ttarget: posetree.pose.Pose,\tfixed_axis: str = None) -> posetree.pose.Pose:", "funcdef": "def"}, {"fullname": "posetree.pose.Pose.point_z_at", "modulename": "posetree.pose", "qualname": "Pose.point_z_at", "kind": "function", "doc": "A new pose with the same location but rotated to point the y axis at a target pose.
\n
Return a new pose rotated to point the z axis at a target pose.
\n\n\n\n", "signature": "(\tself,\ttarget: posetree.pose.Pose,\tfixed_axis: str = None) -> posetree.pose.Pose:", "funcdef": "def"}, {"fullname": "posetree.pose.Pose.interpolate", "modulename": "posetree.pose", "qualname": "Pose.interpolate", "kind": "function", "doc": "A new pose with the same location but rotated to point the z axis at a target pose.
\n
Return a new pose interpolated between two poses, in the frame of the first pose.
\n\n\n\n", "signature": "(self, target: posetree.pose.Pose, alpha: float) -> posetree.pose.Pose:", "funcdef": "def"}, {"fullname": "posetree.pose.Pose.distance_to", "modulename": "posetree.pose", "qualname": "Pose.distance_to", "kind": "function", "doc": "A new pose interpolated between two poses.
\n
Return the cartesian distance between two poses.
\n\n\n\n", "signature": "(self, other: posetree.pose.Pose) -> float:", "funcdef": "def"}, {"fullname": "posetree.pose.Pose.angle_to", "modulename": "posetree.pose", "qualname": "Pose.angle_to", "kind": "function", "doc": "The distance between two poses.
\n
Return the angle between two poses' orientations. Ignores position. Will convert to the same frame.
\n\nThis gives the magnitude of the minimal rotation that will align the two poses.
\n\n\n\n", "signature": "(self, target: posetree.pose.Pose) -> float:", "funcdef": "def"}, {"fullname": "posetree.pose.Pose.angle_about_x_to", "modulename": "posetree.pose", "qualname": "Pose.angle_about_x_to", "kind": "function", "doc": "The angle between two poses, in radians.
\n
Return the signed angle between two poses' orientations about the x axis. Ignores position. Will convert to the same frame.
\n\n\n\n\nThe angle between two poses, in radians.
\n
Return the signed angle between two poses' orientations about the y axis. Ignores position. Will convert to the same frame.
\n\n\n\n\nThe angle between two poses, in radians.
\n
Return the signed angle between two poses' orientations about the z axis. Ignores position. Will convert to the same frame.
\n\n\n\n\nThe angle between two poses, in radians.
\n
Abstract base class to manage poses and frames.
\n\nTo hook up this library to your project, you should subclass this class and hook it up to your stream of transforms\nby implementing _get_transform. Usually this will look like adding a callback-subscribe method to your class and storing\nthe transforms between important frames as they come in. If you don't already have a way of interpolating between transforms,\ncheck out ROS's tf2 library. This library is designed to wrap nicely on top of tf2, if you are already using it.
\n", "bases": "abc.ABC"}, {"fullname": "posetree.pose.PoseTree.get_transform", "modulename": "posetree.pose", "qualname": "PoseTree.get_transform", "kind": "function", "doc": "Return the transform from the parent frame to the child frame.
\n", "signature": "(\tself,\tparent_frame: str,\tchild_frame: str,\ttimestamp: float) -> posetree.pose.Transform:", "funcdef": "def"}, {"fullname": "posetree.pose.PoseTree.get_pose", "modulename": "posetree.pose", "qualname": "PoseTree.get_pose", "kind": "function", "doc": "Create a pose object from a position, quaternion, and parent frame. Essentially syntactic sugar on top of Pose's constructor.
\n", "signature": "(\tself,\tposition: Sequence[float],\tquaternion: Sequence[float],\tparent_frame: str) -> posetree.pose.Pose:", "funcdef": "def"}, {"fullname": "posetree.pose.PoseTree.temporary_frame", "modulename": "posetree.pose", "qualname": "PoseTree.temporary_frame", "kind": "function", "doc": "Create a temporary frame from a pose.
\n\nThis is intended to be used for anonymous frames for doing calculations.
\n\nExample 1, find an approach angle that is close to the robot base:
\n\nfor theta in np.linspace(0, 2 * np.pi, 100):\n with tree.temporary_frame(target_pose.rotate_about_z(theta)) as approach_frame:\n if abs(robot_base_pose.in_frame(approach_frame).y) < 0.1:\n return theta\nExample 2, find a person that is ready to talk to the robot:
\n\nfor person in people:\n with tree.temporary_frame(person.head_pose) as head_frame:\n x, y, _ = robot_base_pose.in_frame(head_frame).position\n if abs(y) < 0.5 and 0.5 < x < 1.5:\n return person\nAdd a static frame to the tree.
\n\nExample:
\n\npose_tree.add_frame(table_corner_pose, 'table_frame')\n\n# Look at center of table:\nrobot.look_at(\n Pose.from_position_and_rotation(\n [table_size_x / 2, tablesize_y_y / 2, 0],\n Rotation.identity(),\n 'table_frame'))\nDon't use this for scratch frames for doing calculations. Use the temporary_frame context manager instead. This should \nbe used for permanant, human meaningful things like a workspace frame.
\n\nThis is also not a good solution for frames that are moving, as the frames will not be interpolated to particular timestamps.
\n\nRemove a static frame from the tree.
\n", "signature": "(self, name: str) -> None:", "funcdef": "def"}, {"fullname": "posetree.pose.CustomFramePoseTree", "modulename": "posetree.pose", "qualname": "CustomFramePoseTree", "kind": "class", "doc": "A abstract PoseTree implementation that implements custom frames.
\n\nThis is useful if your underlying pose structure doesn't support custom frames. You subclass this\nclass and implement the _get_transform method and get full custom frame support. In a pinch you can implement\n_get_transform to raise a NotImplemented error and use 'add frame' but it is not particularly efficient and does\nnot implement interpolation to particular timestamps, which will cause problems if you are getting sensor\ninformation off a moving robot.
\n", "bases": "PoseTree, abc.ABC"}, {"fullname": "posetree.pose.CustomFramePoseTree.custom_frames", "modulename": "posetree.pose", "qualname": "CustomFramePoseTree.custom_frames", "kind": "variable", "doc": "\n"}, {"fullname": "posetree.pose.CustomFramePoseTree.add_frame", "modulename": "posetree.pose", "qualname": "CustomFramePoseTree.add_frame", "kind": "function", "doc": "Add a frame to the tree. This is assumed to be a static frame, and will not be interpolated.
\n\nIf that frame is already present, this will update the frame to a new pose.
\n\nRemove a custom frame from the tree.
\n\nThis method is idempotent. If the frame is not present, it will do nothing.
\n", "signature": "(self, name: str) -> None:", "funcdef": "def"}, {"fullname": "posetree.pose.CustomFramePoseTree.get_transform", "modulename": "posetree.pose", "qualname": "CustomFramePoseTree.get_transform", "kind": "function", "doc": "Return the transform from the parent frame to the child frame, at the timestamp.
\n", "signature": "(\tself,\tparent_frame: str,\tchild_frame: str,\ttimestamp: Optional[float] = None) -> posetree.pose.Transform:", "funcdef": "def"}, {"fullname": "posetree.pose.Transform", "modulename": "posetree.pose", "qualname": "Transform", "kind": "class", "doc": "A homogenous transform from a pose or frame to another location and rotation.
\n\nIn posetree, a Transform is a verb. It describes how to transform a pose from one frame to another.\nAlmost all the time, you want to turn your raw data objects (coming from forward kinematics or perception or \nlocalization) into a Pose object as soon as possible, and only go through Transforms at the borders of your sdk.
\n\nUsing Transform objects instead of Pose objects is usually a code smell, unless you're doing something really\nmathy with a bunch of intermediate transforms.
\n"}, {"fullname": "posetree.pose.Transform.__init__", "modulename": "posetree.pose", "qualname": "Transform.__init__", "kind": "function", "doc": "Create a transform from a position and rotation.
\n\nCreate a transform from a position and quaternion.
\n\n\n\n", "signature": "(\tcls,\tposition: Sequence[float],\tquaternion: Sequence[float]) -> posetree.pose.Transform:", "funcdef": "def"}, {"fullname": "posetree.pose.Transform.identity", "modulename": "posetree.pose", "qualname": "Transform.identity", "kind": "function", "doc": "A new transform.
\n
Return the identity transform.
\n", "signature": "(cls) -> posetree.pose.Transform:", "funcdef": "def"}, {"fullname": "posetree.pose.Transform.inverse", "modulename": "posetree.pose", "qualname": "Transform.inverse", "kind": "variable", "doc": "The inverse of the transform.
\n\nHow to get back from applying this transform.
\n\nt1 * t1.inverse == Transform.identity()
\n", "annotation": ": posetree.pose.Transform"}, {"fullname": "posetree.pose.Transform.position", "modulename": "posetree.pose", "qualname": "Transform.position", "kind": "variable", "doc": "The 1x3 cartesian position of the transform.
\n", "annotation": ": numpy.ndarray"}, {"fullname": "posetree.pose.Transform.rotation", "modulename": "posetree.pose", "qualname": "Transform.rotation", "kind": "variable", "doc": "The rotation component of the transform.
\n", "annotation": ": scipy.spatial.transform._rotation.Rotation"}, {"fullname": "posetree.pose.Transform.x_axis", "modulename": "posetree.pose", "qualname": "Transform.x_axis", "kind": "variable", "doc": "The x axis of the transform.
\n\nThis is the unit vector, in the parent frame, pointing in the new x direction, after applying the transform.
\n", "annotation": ": numpy.ndarray"}, {"fullname": "posetree.pose.Transform.y_axis", "modulename": "posetree.pose", "qualname": "Transform.y_axis", "kind": "variable", "doc": "The y axis of the transform.
\n\nThis is the unit vector, in the parent frame, pointing in the new y direction, after applying the transform.
\n", "annotation": ": numpy.ndarray"}, {"fullname": "posetree.pose.Transform.z_axis", "modulename": "posetree.pose", "qualname": "Transform.z_axis", "kind": "variable", "doc": "The z axis of the transform.
\n\nThis is the unit vector, in the parent frame, pointing in the new z direction, after applying the transform.
\n", "annotation": ": numpy.ndarray"}, {"fullname": "posetree.pose.Transform.x", "modulename": "posetree.pose", "qualname": "Transform.x", "kind": "variable", "doc": "The x coordinate of the transform.
\n", "annotation": ": float"}, {"fullname": "posetree.pose.Transform.y", "modulename": "posetree.pose", "qualname": "Transform.y", "kind": "variable", "doc": "The y coordinate of the transform.
\n", "annotation": ": float"}, {"fullname": "posetree.pose.Transform.z", "modulename": "posetree.pose", "qualname": "Transform.z", "kind": "variable", "doc": "The z coordinate of the transform.
\n", "annotation": ": float"}, {"fullname": "posetree.pose.Transform.to_matrix", "modulename": "posetree.pose", "qualname": "Transform.to_matrix", "kind": "function", "doc": "Return the 4x4 matrix representation of the transform.
\n", "signature": "(self) -> numpy.ndarray:", "funcdef": "def"}, {"fullname": "posetree.pose.Transform.from_matrix", "modulename": "posetree.pose", "qualname": "Transform.from_matrix", "kind": "function", "doc": "Create a transform from a matrix.
\n\n\n\n", "signature": "(cls, matrix: Sequence[Sequence[float]]) -> posetree.pose.Transform:", "funcdef": "def"}, {"fullname": "posetree.pose.Transform.apply", "modulename": "posetree.pose", "qualname": "Transform.apply", "kind": "function", "doc": "A new transform.
\n
Multiply this transform by another transform or vector.
\n\nIf other is a transform, this is equivalent to applying this transform, then the other transform.\nIf other is a vector, this is equivalent to applying this transform to the vector.
\n\n\n\n", "signature": "(\tself,\tother: Union[posetree.pose.Transform, Sequence[float], Sequence[Sequence[float]]]) -> posetree.pose.Transform:", "funcdef": "def"}, {"fullname": "posetree.pose.Transform.almost_equal", "modulename": "posetree.pose", "qualname": "Transform.almost_equal", "kind": "function", "doc": "The product of the two transforms.
\n
Check if two transforms are almost equal.
\n\nHandles floating point error in the position and rotation, and the fact that for quaternions negating \nthe vector gives the same rotation.
\n", "signature": "(self, other: posetree.pose.Transform, atol: float = 1e-08) -> bool:", "funcdef": "def"}, {"fullname": "posetree.pose.Transform.interpolate", "modulename": "posetree.pose", "qualname": "Transform.interpolate", "kind": "function", "doc": "Interpolate between two transforms.
\n\n\n\n", "signature": "(\tself,\tother: posetree.pose.Transform,\talpha: float) -> posetree.pose.Transform:", "funcdef": "def"}, {"fullname": "posetree.pose.Transform.angle_to", "modulename": "posetree.pose", "qualname": "Transform.angle_to", "kind": "function", "doc": "The interpolated transform.
\n
Return the angle between two transforms' orientations. Ignores position.
\n\n\n\n", "signature": "(self, target: posetree.pose.Transform) -> float:", "funcdef": "def"}]; 4 | 5 | // mirrored in build-search-index.js (part 1) 6 | // Also split on html tags. this is a cheap heuristic, but good enough. 7 | elasticlunr.tokenizer.setSeperator(/[\s\-.;&_'"=,()]+|<[^>]*>/); 8 | 9 | let searchIndex; 10 | if (docs._isPrebuiltIndex) { 11 | console.info("using precompiled search index"); 12 | searchIndex = elasticlunr.Index.load(docs); 13 | } else { 14 | console.time("building search index"); 15 | // mirrored in build-search-index.js (part 2) 16 | searchIndex = elasticlunr(function () { 17 | this.pipeline.remove(elasticlunr.stemmer); 18 | this.pipeline.remove(elasticlunr.stopWordFilter); 19 | this.addField("qualname"); 20 | this.addField("fullname"); 21 | this.addField("annotation"); 22 | this.addField("default_value"); 23 | this.addField("signature"); 24 | this.addField("bases"); 25 | this.addField("doc"); 26 | this.setRef("fullname"); 27 | }); 28 | for (let doc of docs) { 29 | searchIndex.addDoc(doc); 30 | } 31 | console.timeEnd("building search index"); 32 | } 33 | 34 | return (term) => searchIndex.search(term, { 35 | fields: { 36 | qualname: {boost: 4}, 37 | fullname: {boost: 2}, 38 | annotation: {boost: 2}, 39 | default_value: {boost: 2}, 40 | signature: {boost: 2}, 41 | bases: {boost: 2}, 42 | doc: {boost: 1}, 43 | }, 44 | expand: true 45 | }); 46 | })(); --------------------------------------------------------------------------------The angle between two transform, in radians.
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