Merge pull request #33 from tomsch420/main

Added missing methods to ORM.

Author: tomsch420

src/semantic_world/orm/model.py

@@ -1,24 +1,38 @@
 from dataclasses import dataclass
 from typing import List, Dict, Any, Optional
 
-from ormatic.dao import AlternativeMapping
+from ormatic.dao import AlternativeMapping, T
 
 from ..prefixed_name import PrefixedName
 from ..spatial_types import RotationMatrix, Vector3, Point3, TransformationMatrix
 from ..spatial_types.spatial_types import Quaternion
 from ..spatial_types.symbol_manager import symbol_manager
 from ..world import World, Body
-from ..world_entity import Connection
+from ..world_entity import Connection, View
 
 
 @dataclass
 class WorldMapping(AlternativeMapping[World]):
     bodies: List[Body]
     connections: List[Connection]
+    views: List[View]
 
     @classmethod
     def create_instance(cls, obj: World):
-        return cls(obj.bodies, obj.connections)
+        return cls(obj.bodies, obj.connections, obj.views)
+
+    def create_from_dao(self) -> World:
+        result = World()
+
+        with result.modify_world():
+            for body in self.bodies:
+                result.add_body(body)
+            for connection in self.connections:
+                result.add_connection(connection)
+            for view in self.views:
+                result.add_view(view)
+
+        return result
 
 
 @dataclass
@@ -34,6 +48,9 @@ def create_instance(cls, obj: Vector3):
         x, y, z, _ = symbol_manager.evaluate_expr(obj).tolist()
         return cls(x=x, y=y, z=z, reference_frame=obj.reference_frame)
 
+    def create_from_dao(self) -> Vector3:
+        return Vector3.from_xyz(x=self.x, y=self.y, z=self.z, reference_frame=self.reference_frame)
+
 
 @dataclass
 class Point3Mapping(AlternativeMapping[Point3]):
@@ -49,6 +66,8 @@ def create_instance(cls, obj: Point3):
         result = cls(x=x, y=y, z=z, reference_frame=obj.reference_frame)
         return result
 
+    def create_from_dao(self) -> Point3:
+        return Point3.from_xyz(x=self.x, y=self.y, z=self.z, reference_frame=self.reference_frame)
 
 @dataclass
 class QuaternionMapping(AlternativeMapping[Quaternion]):
@@ -64,6 +83,9 @@ def create_instance(cls, obj: Quaternion):
         result = cls(x=x, y=y, z=z, w=w, reference_frame=obj.reference_frame)
         return result
 
+    def create_from_dao(self) -> Quaternion:
+        return Quaternion.from_xyzw(x=self.x, y=self.y, z=self.z, w=self.w, reference_frame=self.reference_frame)
+
 @dataclass
 class RotationMatrixMapping(AlternativeMapping[RotationMatrix]):
     reference_frame: PrefixedName
@@ -73,6 +95,8 @@ class RotationMatrixMapping(AlternativeMapping[RotationMatrix]):
     def create_instance(cls, obj: RotationMatrix):
         return cls(reference_frame=obj.reference_frame, rotation=obj.to_quaternion())
 
+    def create_from_dao(self) -> RotationMatrix:
+        return RotationMatrix.from_quaternion(self.rotation)
 
 @dataclass
 class TransformationMatrixMapping(AlternativeMapping[TransformationMatrix]):
@@ -88,3 +112,9 @@ def create_instance(cls, obj: TransformationMatrix):
         result = cls(reference_frame=obj.reference_frame, child_frame=obj.child_frame, position=position,
                      rotation=rotation)
         return result
+
+    def create_from_dao(self) -> TransformationMatrix:
+        return TransformationMatrix.from_point_rotation_matrix(
+            point=self.position,
+            rotation_matrix=RotationMatrix.from_quaternion(self.rotation), reference_frame=self.reference_frame,
+            child_frame=self.child_frame,)