Lattice#

class blueprints.Lattice[source]#

Bases: LatticeType

A Lattice is constructed from a Thing, a set of directions or axes and the number of repetitions. Lattices are not mujoco objects but blueprints utility.

Attributes Summary

n_dim

The number of dimensions in the Lattice

Methods Summary

copy(**kwargs)

lattice(directions, repetitions[, name])

A Lattice created with the parent Lattice as its content Thing (see examples above).

locate([pos, x, y, z])

This method creates a copy that is relocated to pos.

shift([pos, x, y, z])

This method creates a copy that is shifted by pos.

Attributes Documentation

n_dim#

The number of dimensions in the Lattice

Return type:

int

Methods Documentation

copy(**kwargs)[source]#
Parameters:

kwargs (dict) – The keyword arguments are passed to the individual component Things copy method.

Returns:

A fresh copy of the Lattice

Return type:

blue.LatticeType

lattice(directions, repetitions, name=None)[source]#

A Lattice created with the parent Lattice as its content Thing (see examples above).

Return type:

blue.LatticeType

Parameters:

  • directions (list[float | int] | ndarray | list[list[int | float]] | list[ndarray])

  • repetitions (int | list[int] | ndarray)

  • name (str | None)

locate(pos=None, x=None, y=None, z=None, **kwargs)[source]#

This method creates a copy that is relocated to pos.

Parameters:

  • pos (list[int | float] | np.ndarray | blue.MoveableThingType | None) – The position to which the Thing is shifted, optionally another MoveableThing can be passed in which case the position of this Thing is taken.

  • globally (bool, optional) – Determining whether the relocation is relative to the local orientation or the global orientation.

  • x (int | float | np.int32 | np.int64 | np.float32 | np.float64 | None) – This argument can be set if just the X component of the position is to be changed.

  • y (int | float | np.int32 | np.int64 | np.float32 | np.float64 | None) – This argument can be set if just the Y component of the position is to be changed.

  • z (int | float | np.int32 | np.int64 | np.float32 | np.float64 | None) – This argument can be set if just the Z component of the position is to be changed.

  • **kwargs – Keyword arguments are passed to copy().

Returns:

A relocated copy is returned.

Return type:

blue.LatticeType

shift(pos=None, x=None, y=None, z=None, **kwargs)[source]#

This method creates a copy that is shifted by pos.

Parameters:

  • pos (list[int | float] | np.ndarray | blue.MoveableThingType | None) – The amount by which the Thing is shifted, optionally another MoveableThing can be passed in which case the position of this Thing is taken.

  • globally (bool, optional) – Determining whether the shift is relative to the local orientation or the global orientation.

  • x (int | float | np.int32 | np.int64 | np.float32 | np.float64 | None) – This argument can be set if just the X component of the position is to be changed.

  • y (int | float | np.int32 | np.int64 | np.float32 | np.float64 | None) – This argument can be set if just the Y component of the position is to be changed.

  • z (int | float | np.int32 | np.int64 | np.float32 | np.float64 | None) – This argument can be set if just the Z component of the position is to be changed.

  • **kwargs – Keyword arguments are passed to the copy().

Returns:

A shifted copy is returned.

Return type:

blue.LatticeType

__init__(thing, directions, repetitions, name=None)[source]#
Parameters:

  • thing (blue.MoveableThingType | blue.LatticeType) – This Thing will consitute the content of the Lattice

  • directions (list [ float | int ] | np.ndarray | list [ list [ int | float ] ] | list [ np.ndarray ]) – A list of axes pointing into the directions of the Lattice.

  • repetitions (int | list [ int ] | np.ndarray) – A list of repetitions for each axis with the same length as directions

  • name (str | None) – The name of the Lattice (used for displaying purposes).

Return type:

None

classmethod __new__(*args, **kwargs)#