Merge branch 'main' of github.com:cram2/semantic_world into object_knowledge

Author: Tigul

src/semantic_digital_twin/adapters/multi_sim.py

@@ -48,7 +48,6 @@
 from ..world_description.world_modification import (
     AddKinematicStructureEntityModification,
 )
-from ..spatial_types.symbol_manager import symbol_manager
 
 
 def cas_pose_to_list(pose: TransformationMatrix) -> List[float]:
@@ -60,8 +59,8 @@ def cas_pose_to_list(pose: TransformationMatrix) -> List[float]:
     """
     pos = pose.to_position()
     quat = pose.to_quaternion()
-    px, py, pz, _ = symbol_manager.evaluate_expr(pos).tolist()
-    qx, qy, qz, qw = symbol_manager.evaluate_expr(quat).tolist()
+    px, py, pz, _ = pos.evaluate().tolist()
+    qx, qy, qz, qw = quat.evaluate().tolist()
     return [px, py, pz, qw, qx, qy, qz]
 
 

src/semantic_digital_twin/adapters/world_entity_kwargs_tracker.py

@@ -93,7 +93,11 @@ def add_kinematic_structure_entity(
         )
 
     def has_kinematic_structure_entity(self, name: PrefixedName) -> bool:
-        return name in self._kinematic_structure_entities
+        try:
+            self.get_kinematic_structure_entity(name)
+            return True
+        except KinematicStructureEntityNotInKwargs:
+            return False
 
     def get_kinematic_structure_entity(
         self, name: PrefixedName

src/semantic_digital_twin/datastructures/prefixed_name.py

@@ -15,6 +15,8 @@ def __hash__(self):
         return hash((self.prefix, self.name))
 
     def __str__(self):
+        if self.prefix is None:
+            return self.name
         return f"{self.prefix}/{self.name}"
 
     def __eq__(self, other):

src/semantic_digital_twin/exceptions.py

@@ -22,7 +22,7 @@
         WorldEntity,
         KinematicStructureEntity,
     )
-    from .spatial_types.spatial_types import Symbol, SymbolicType
+    from .spatial_types.spatial_types import FloatVariable, SymbolicType
 
 
 class LogicalError(Exception):
@@ -73,33 +73,6 @@ def __post_init__(self):
         super().__init__(msg)
 
 
-class SymbolManagerException(Exception):
-    """
-    Exceptions related to the symbol manager for special types.
-    """
-
-
-@dataclass
-class SymbolResolutionError(SymbolManagerException):
-    """
-    Represents an error that occurs when a symbol in a symbolic expression cannot be resolved.
-
-    This exception is raised when the resolution of a symbol fails due to
-    underlying exceptions or unresolved states. It provides details about
-    the symbol that caused the error and the original exception responsible
-    for the failure.
-    """
-
-    symbol: Symbol
-    original_exception: Exception
-
-    def __post_init__(self):
-        super().__init__(
-            f'Symbol "{self.symbol.name}" could not be resolved. '
-            f"({self.original_exception.__class__.__name__}: {str(self.original_exception)})"
-        )
-
-
 class SpatialTypesError(UsageError):
     pass
 
@@ -134,28 +107,41 @@ def __post_init__(self):
 
 
 @dataclass
-class HasFreeSymbolsError(SpatialTypesError):
+class HasFreeVariablesError(SpatialTypesError):
     """
-    Raised when an operation can't be performed on an expression with free symbols.
+    Raised when an operation can't be performed on an expression with free variables.
     """
 
-    symbols: List[Symbol]
+    variables: List[FloatVariable]
+
+    def __post_init__(self):
+        msg = f"Operation can't be performed on expression with free variables: {self.variables}."
+        super().__init__(msg)
+
+
+class ExpressionEvaluationError(SpatialTypesError): ...
+
+
+@dataclass
+class WrongNumberOfArgsError(ExpressionEvaluationError):
+    expected_number_of_args: int
+    actual_number_of_args: int
 
     def __post_init__(self):
-        msg = f"Operation can't be performed on expression with free symbols: {self.symbols}."
+        msg = f"Expected {self.expected_number_of_args} arguments, but got {self.actual_number_of_args}."
         super().__init__(msg)
 
 
 @dataclass
-class DuplicateSymbolsError(SpatialTypesError):
+class DuplicateVariablesError(SpatialTypesError):
     """
-    Raised when duplicate symbols are found in an operation that requires unique symbols.
+    Raised when duplicate variables are found in an operation that requires unique variables.
     """
 
-    symbols: List[Symbol]
+    variables: List[FloatVariable]
 
     def __post_init__(self):
-        msg = f"Operation failed due to duplicate symbols: {self.symbols}. All symbols must be unique."
+        msg = f"Operation failed due to duplicate variables: {self.variables}. All variables must be unique."
         super().__init__(msg)
 
 
@@ -206,7 +192,7 @@ class SpatialTypeNotJsonSerializable(NotJsonSerializable):
     def __post_init__(self):
         super().__init__(
             f"Object of type '{self.spatial_object.__class__.__name__}' is not JSON serializable, because it has "
-            f"free variables: {self.spatial_object.free_symbols()}"
+            f"free variables: {self.spatial_object.free_variables()}"
         )
 
 

src/semantic_digital_twin/orm/model.py

@@ -13,7 +13,6 @@
 from ..spatial_types import RotationMatrix, Vector3, Point3, TransformationMatrix
 from ..spatial_types.derivatives import DerivativeMap
 from ..spatial_types.spatial_types import Quaternion
-from ..spatial_types.symbol_manager import symbol_manager
 from ..world import World
 from ..world_description.connections import Connection
 from ..world_description.degree_of_freedom import DegreeOfFreedom
@@ -99,7 +98,7 @@ class Vector3Mapping(AlternativeMapping[Vector3]):
 
     @classmethod
     def create_instance(cls, obj: Vector3):
-        x, y, z, _ = symbol_manager.evaluate_expr(obj).tolist()
+        x, y, z, _ = obj.to_np().tolist()
         result = cls(x=x, y=y, z=z)
         result.reference_frame = obj.reference_frame
         return result
@@ -122,7 +121,7 @@ class Point3Mapping(AlternativeMapping[Point3]):
 
     @classmethod
     def create_instance(cls, obj: Point3):
-        x, y, z, _ = symbol_manager.evaluate_expr(obj).tolist()
+        x, y, z, _ = obj.to_np().tolist()
         result = cls(x=x, y=y, z=z)
         result.reference_frame = obj.reference_frame
         return result
@@ -144,7 +143,7 @@ class QuaternionMapping(AlternativeMapping[Quaternion]):
 
     @classmethod
     def create_instance(cls, obj: Quaternion):
-        x, y, z, w = symbol_manager.evaluate_expr(obj).tolist()
+        x, y, z, w = obj.to_np().tolist()
         result = cls(x=x, y=y, z=z, w=w)
         result.reference_frame = obj.reference_frame
         return result