Joint

Description

Default class for joints, i.e. points in space at a specific timestamp. The methods in this class are mainly handled by the methods in the class Pose, but some of them can be directly accessed.

Initialisation

class krajjat.classes.joint.Joint(joint_label=None, x=None, y=None, z=None)

Creates a Joint instance, with a joint label and x, y, and z coordinates.

New in version 2.0.

Parameters:

joint_label (str, optional) – The label of the joint (e.g. "Head").
x (float, optional) – The position of the joint on the x-axis (in meters).
y (float, optional) – The position of the joint on the y-axis (in meters).
z (float, optional) – The position of the joint on the z-axis (in meters).

joint_label

The label of the joint (e.g. "Head").

Type:: str

x

The position of the joint on the x-axis (in meters).

Type:: float

y

The position of the joint on the y-axis (in meters).

Type:: float

z

The position of the joint on the z-axis (in meters).

Type:: float

_velocity_over_threshold

Defines if the velocity of this joint, compared to the previous joint, has been found to be over threshold defined in the parameters Sequence.correct_jitter().

Type:: bool

_interpolated

Defines if the coordinates of this joint have been modified by Sequence.correct_zeros().

Type:: bool

_dejittered

Defines if the coordinates of this joint have been modified by Sequence.correct_jitter().

Type:: bool

_rereferenced

Defines if the coordinates of this joint have been modified by Sequence.re_reference().

Type:: bool

_randomized

Defines if the coordinates of this joint have been randomly generated by (typically, by Sequence.randomize()).

Type:: bool

Example

>>> j = Joint("Head", 4.8, 15.16, 23.42)

Magic methods

Joint.__repr__()

Returns a string containing the joint label, the x, y ans z coordinates, and adds information if one or more of the private attributes _has_velocity_over_threshold, _is_corrected or _is_randomized are True.

Returns:: A formatted string of the information contained in all the attributes of the object.
Return type:: str

Examples

>>> joint = Joint("Head", 4.8, 15.16, 23.42)
>>> print(joint)
Head: (4.8, 15.16, 23.42)

Joint.__eq__(other)

Returns True if the attributes x, y, z and joint_label are identical between the two Joint objects (with a precision of 5 decimal places).

New in version 2.0.

Parameters:: other (Joint) – Another Joint object.

Examples

>>> joint_1 = Joint("Head", 1, 2, 3)
>>> joint_2 = Joint("Head", 1, 2, 3)
>>> joint_1 == joint_2
True
>>> joint_3 = Joint("Neck", 1, 2, 3)
>>> joint_1 == joint_3
False
>>> joint_4 = Joint("Head", 1, 2, 4)
>>> joint_1 == joint_4
False
>>> joint_5 = joint_1.copy()
>>> joint_1 == joint_5
True

Joint.__getitem__(key)

Returns the value of the coordinate x, y or z depending on the value of key. This function is a wrapper for get_coordinate().

New in version 2.0.

Parameters:: key (str) – A coordinate, either "x", "y" or "z".
Returns:: The value of the coordinate.
Return type:: float|None
Raises:: InvalidParameterValueException – If the key is neither "x", "y" nor "z".

Example

>>> joint = Joint("Head", 1, 2, 3)
>>> joint["x"]
1

Joint.__setitem__(key, value)

Sets the value of the coordinate x, y or z. This function is a wrapper for set_position().

New in version 2.0.

Parameters:

key (str) – The coordinate, either "x", "y" or "z".
value (float|None) – The value of the coordinate.

Raises:

InvalidParameterValueException – If the key is neither "x", "y" nor "z".

Example

>>> joint = Joint("Head", 1, 2, 3)
>>> joint["x"] = 4
>>> joint.get_x()
4

Public methods

Setter functions

Joint.set_joint_label(joint_label)

Sets the joint_label attribute of the joint.

New in version 2.0.

Parameters:: joint_label (str) – The label of the joint (e.g. "Head").

Example

>>> joint = Joint()
>>> joint.set_joint_label("Hand")
>>> print(joint.joint_label)
"Hand"

Joint.set_x(x)

Sets the x coordinate of the joint.

New in version 2.0.

Parameters:: x (float|None) – The position of the joint on the x-axis.

Example

>>> joint = Joint("Head", 0, 0, 0)
>>> joint.set_x(4)
>>> print(joint.get_position())
(4, 0, 0)

Joint.set_y(y)

Sets the y coordinate of the joint.

New in version 2.0.

Parameters:: y (float|None) – The position of the joint on the y-axis.

Example

>>> joint = Joint("Head", 0, 0, 0)
>>> joint.set_y(8)
>>> print(joint.get_position())
(0, 8, 0)

Joint.set_z(z)

Sets the z coordinate of the joint.

New in version 2.0.

Parameters:: z (float|None) – The position of the joint on the z-axis.

Example

>>> joint = Joint("Head", 0, 0, 0)
>>> joint.set_z(15)
>>> print(joint.get_position())
(0, 0, 15)

Joint.set_coordinate(axis, value)

Sets the coordinate on the specified axis (x, y, or z).

New in version 2.0.

Parameters:

axis (str) – The axis ("x", "y", or "z") on which to set the coordinate.
value (float|None) – The value of the coordinate.

Example

>>> joint = Joint("Head", 0, 0, 0)
>>> joint.set_coordinate("x", 1)
>>> joint.x
1

Joint.set_position(x, y, z)

Sets the x, y and z coordinates of the joint.

New in version 2.0.

Parameters:

x (float|None) – The position of the joint on the x-axis.
y (float|None) – The position of the joint on the y-axis.
z (float|None) – The position of the joint on the z-axis.

Example

>>> joint = Joint()
>>> joint.set_position(4, 8, 15)

Joint.set_to_zero()

Sets the joints coordinates to (0, 0, 0).

New in version 2.0.

Example

>>> joint = Joint()
>>> joint.set_to_zero()
>>> print(joint.get_position())
(0, 0, 0)

Joint.set_to_none()

Sets the joints coordinates to (None, None, None).

New in version 2.0.

Example

>>> joint = Joint()
>>> joint.set_to_none()
>>> print(joint.get_position())
(None, None, None)

Getter functions

Joint.get_joint_label()

Returns the joint_label attribute.

New in version 2.0.

Returns:: The label of the joint (e.g. "Head").
Return type:: str

Example

>>> joint = Joint("Head", 1, 2, 3)
>>> joint.get_joint_label()
"Head"

Joint.get_x()

Returns the x coordinate of the joint.

New in version 2.0.

Returns:: The x coordinate of the joint (in meters).
Return type:: float

Example

>>> joint = Joint("Head", 1, 2, 3)
>>> joint.get_x()
1

Joint.get_y()

Returns the y coordinate of the joint.

New in version 2.0.

Returns:: The y coordinate of the joint (in meters).
Return type:: float

Example

>>> joint = Joint("Head", 1, 2, 3)
>>> joint.get_y()
2

Joint.get_z()

Returns the z coordinate of the joint.

New in version 2.0.

Returns:: The z coordinate of the joint (in meters).
Return type:: float

Example

>>> joint = Joint("Head", 1, 2, 3)
>>> joint.get_z()
3

Joint.get_coordinate(axis)

Returns the coordinate on the specified axis (x, y, or z).

New in version 2.0.

Parameters:: axis (str) – The axis ("x", "y", or "z") from which to get the coordinate.
Returns:: The x, y or z coordinate of the joint (in meters).
Return type:: float
Raises:: InvalidParameterValueException – If the axis is neither "x", "y" nor "z".

Example

>>> joint = Joint("Head", 1, 2, 3)
>>> joint.get_coordinate("x")
1
>>> joint.get_coordinate("z")
3

Joint.get_position()

Returns a list containing the x, y and z coordinates of the joint.

New in version 2.0.

Returns:: The x coordinate of the joint (in meters).
Return type:: float

Example

>>> joint = Joint("Head", 1, 2, 3)
>>> joint.get_position()
(1, 2, 3)

Predicates

Joint.has_velocity_over_threshold()

Returns the value of the attribute _has_velocity_over_threshold, which will be True if the distance travelled by this joint over time, compared to the previous joint, has been found to be over threshold defined in the parameters of Sequence.correct_jitter(). This value allows to show the joint in color when displaying the sequence in the function display_functions.compare_sequences().

New in version 2.0.

Returns:: Value of the attribute _has_velocity_over_threshold.
Return type:: bool

Joint.is_corrected()

Returns True if at least one of the values of the attributes _zero_corrected, _dejittered, or _rereferenced is True. These parameters will be True if they have been modified by either Sequence.correct_zeros(), Sequence.correct_jitter(), or Sequence.re_reference() respectively.

New in version 2.0.

Returns:: Value of the attribute _is_corrected.
Return type:: bool

Joint.is_randomized()

Returns the value of the attribute _is_randomized, which will be True if the coordinates of this joint have been randomly generated by Sequence.randomize().

New in version 2.0.

Returns:: Value of the attribute _is_randomized.
Return type:: bool

Joint.is_zero()

Returns True if the coordinates of the joint are (0, 0, 0).

… versionadded:: 2.0

Returns:: True if the coordinates of the joint are (0, 0, 0).
Return type:: bool

Examples

>>> joint = Joint("Head", 1, 2, 3)
>>> joint.is_zero()
False
>>> joint = Joint("Head", 0, 0, 0)
>>> joint.is_zero()
True
>>> joint = Joint()
>>> joint.is_zero()  # Joints are None
False

Joint.is_none()

Returns True if the coordinates of the joint are (None, None, None).

… versionadded:: 2.0

Returns:: True if the coordinates of the joint are (None, None, None).
Return type:: bool

Examples

>>> joint = Joint("Head", 1, 2, 3)
>>> joint.is_none()
False
>>> joint = Joint("Head", 0, 0, 0)
>>> joint.is_none()
False
>>> joint = Joint()
>>> joint.is_none()
True

Other methods

Joint.copy()

Returns a deep copy of itself.

New in version 2.0.

Returns:: A deep copy of the Joint instance.
Return type:: Joint

Joint.rotate(yaw=0, pitch=0, roll=0)

Returns converted coordinates given three rotations: yaw, pitch and roll.

New in version 2.0.

Warning

This function is experimental as of version 2.0.

Parameters:

yaw (float, optional) – The angle of yaw, or rotation on the z-axis, in degrees (default: 0).
pitch (float, optional) – The angle of pitch, or rotation on the y-axis, in degrees (default: 0).
roll (float, optional) – The angle of roll, or rotation on the x-axis, in degrees (default: 0).

Returns:

float – The converted x coordinate.
float – The converted y coordinate.
float – The converted z coordinate.

Example

>>> joint = Joint("Head", 1, 2, 0)
>>> joint.rotate(90, 0, 0)
(-2, 1, 0)

Private method

Joint._randomize_coordinates_keep_movement(joint_pose_0, joint_random, verbosity=1)

Returns a joint with modified coordinates while keeping the relative position compared to the position of the joint at the beginning of the sequence. This function is used by .Sequence.randomize().

New in version 2.0.

Parameters:

joint_pose_0 (Joint) – The joint from the first pose of the sequence, with the same joint_label.
joint_random (Joint) – A joint with random coordinates, generated by Sequence.randomize()
verbosity (int, optional) –
Sets how much feedback the code will provide in the console output:
- 0: Silent mode. The code won’t provide any feedback, apart from error messages.
- 1: Normal mode (default). The code will provide essential feedback such as progression markers and current steps.
- 2: Chatty mode. The code will provide all possible information on the events happening. Note that this may clutter the output and slow down the execution.

Returns:

The original joint with added random coordinates.

Return type:

Joint