Karana.Core =========== .. py:module:: Karana.Core .. autoapi-nested-parse:: Core modules and classes. These are foundational and utilized by many of the other packages and modules. Attributes ---------- .. autoapisummary:: Karana.Core.Json Karana.Core.T Classes ------- .. autoapisummary:: Karana.Core.CppWeakRef Karana.Core.Base Karana.Core.BaseContainer Karana.Core.BaseVars Karana.Core.BaseWithVars Karana.Core.CppWeakRefBase Karana.Core.DebugManager Karana.Core.DumpOptionsBase Karana.Core.DumpOptionsBaseWithVars Karana.Core.DumpOptionsLockingBase Karana.Core.JsonLogger Karana.Core.LockingBase Karana.Core.LockingBaseVars Karana.Core.LogLevel Karana.Core.MsgLogger Karana.Core.NestedVars Karana.Core.Var Karana.Core.VarBool Karana.Core.VarChar Karana.Core.VarDouble Karana.Core.VarFloat Karana.Core.VarHomTran Karana.Core.VarId Karana.Core.VarInt Karana.Core.VarLong Karana.Core.VarMat Karana.Core.VarMat33 Karana.Core.VarMat66 Karana.Core.VarShort Karana.Core.VarSpatialAcceleration Karana.Core.VarSpatialForce Karana.Core.VarSpatialVector Karana.Core.VarSpatialVelocity Karana.Core.VarString Karana.Core.VarType Karana.Core.VarUnitQuaternion Karana.Core.VarVec Karana.Core.VarVec3 Karana.Core.VarVec4 Karana.Core.VarVec6 Karana.Core.VarVecInt Karana.Core.VarVecString Karana.Core.VoidCallbackRegistry Functions --------- .. autoapisummary:: Karana.Core.deprecated Karana.Core.allDestroyed Karana.Core.allHealthy Karana.Core.allReady Karana.Core.debug Karana.Core.debugJson Karana.Core.discard Karana.Core.error Karana.Core.findShareDir Karana.Core.info Karana.Core.numTrace Karana.Core.trace Karana.Core.traceJson Karana.Core.warn Package Contents ---------------- .. py:type:: Json :canonical: dict[str, Union[str, int, float, 'Json']] .. py:function:: deprecated(name: str, removal_date: datetime.date | str, msg: str) deprecated(removal_date: datetime.date | str, msg: str) Use this decorator is used to mark functions or classes as deprecated. See overloaded function signatures for details. .. py:data:: T .. py:class:: CppWeakRef(base: T) Bases: :py:obj:`CppWeakRefBase`, :py:obj:`Generic`\ [\ :py:obj:`T`\ ] Weak reference to C++ object. Use the get() method to return a Python object from the C++ object if it exists. .. py:method:: __call__() -> T | None Return a Python object for the C++ class if it exists, or None if it does not. :returns: The Python object if the C++ object still exists. None if it does not. :rtype: T | None .. py:class:: Base(name: str) Base class used for Var and BaseWithVars. Most simulation objects will derive from BaseWithVars. .. py:method:: dump(prefix: str = '', options: DumpOptionsBase = None) -> None Print dumpString on std::cout. :param prefix: A string to use as prefix for each output line :param options: Struct with options to tailor the output .. py:method:: dumpString(prefix: str = '', options: DumpOptionsBase = None) -> str Return information about the object. :param prefix: A string to use as prefix for each output line :param options: Struct with options to tailor the output :returns: String with the information about the object. .. py:method:: id() -> int id of this object. :returns: id of this object. .. py:method:: isReady() -> bool Checks is the params for the object have been initialized. :returns: True if the params have set up. .. py:method:: name() -> str Name of this object. :returns: Name of this object. .. py:method:: typeString(brief: bool = True) -> str Returns the type string of Base. :param brief: if true, return the short form of the class type name, else the full type name :returns: The type string. .. py:class:: BaseContainer Container class that holds all the Base objects. The BaseContainer provides named storage and access to Base objects using unique IDs. It supports range-based iteration and is designed to allow insertion and erasure by friend class Base. .. py:attribute:: at_exit_fns :type: VoidCallbackRegistry .. py:attribute:: check_all_destroyed :type: bool .. py:method:: singleton() -> BaseContainer :staticmethod: Gets the singleton BaseContainer instance. :returns: A shared pointer to the singleton BaseContainer. .. py:method:: __iter__() -> collections.abc.Iterator[tuple[int, Base]] .. py:method:: at(arg0: SupportsInt | SupportsIndex) -> Base Retrieves the Base pointer associated with the given ID. :param id: The ID of the desired Base object. :returns: A pointer to the Base object, or nullptr if not found. .. py:method:: atLockingBase(arg0: SupportsInt | SupportsIndex) -> LockingBase | None Look for a Base at the given ID. Try to convert it to a LockingBase .. py:method:: contains(arg0: SupportsInt | SupportsIndex) -> bool Checks whether the container has an entry with the given ID. :param id: The ID to check for. :returns: True if the ID is present; otherwise, false. .. py:class:: BaseVars Common base class used by most simulation objects. .. py:method:: create() -> BaseVars :staticmethod: Create a new instance of BaseVars. :param bwv: The BaseWithVars that this BaseVars will be associated with. :returns: A pointer to the newly created instance of BaseVars. .. py:method:: dump(prefix: str = '', depth: SupportsInt | SupportsIndex = 0) -> None Dump all of the Vars to stdout. :param prefix: The prefix to put in front of each Var. :param depth: How many levels deep to dump. A negative value will dump all levels. .. py:method:: dumpString(prefix: str = '', depth: SupportsInt | SupportsIndex = 0) -> str Dump all of the Vars as a string. :param prefix: The prefix to put in front of each Var. :param depth: How many levels deep to dump. A negative value will dump all levels. :returns: A string with the information about all the Vars contained within. .. py:method:: getAllVars() -> NestedVars Get all the Vars that this BaseVars has. :returns: A map of Vars, where the Var name is the key and the Var is the value. .. py:class:: BaseWithVars(name: str) Bases: :py:obj:`Base` .. py:method:: create(name: str) -> BaseWithVars :staticmethod: Create an instance of BaseWithVars :param name: Name for the BaseWithVars class. :returns: A pointer to the newly created BaseWithVars class. .. py:method:: getVars() -> BaseVars Get the vars for this object. :returns: The vars for this object. .. py:class:: CppWeakRefBase(base: Base) .. py:method:: __call__() -> Base | None Return a the base if it exists, None otherwise. .. py:method:: __deepcopy__(arg0: Any) -> CppWeakRefBase .. py:class:: DebugManager .. py:attribute:: all_destroyed_message_limit :type: ClassVar[int] :value: 10 .. py:attribute:: enable_locking_trace :type: ClassVar[bool] :value: False .. py:method:: getUsageTrackingErrors() -> bool :staticmethod: Get the value of usage tracking errors. Usage tracking errors is used to enable/disable error messages when discarding variables. If true, it will print errors if the variable if still in use. If false, it will only print a warning, but will continue on anyway. :returns: Whether usage tracking errors is enabled or disabled. .. py:method:: setUsageTrackingErrors(enable: bool) -> None :staticmethod: Set the value of usage tracking errors. Usage tracking errors is used to enable/disable error messages when discarding variables. If true, it will print errors if the variable if still in use. If false, it will only print a warning, but will continue on anyway. :param enable: If true, then enable usage tracking errors. If false, then disable it. .. py:class:: DumpOptionsBase .. py:attribute:: cache_deps :type: bool .. py:attribute:: id :type: bool .. py:attribute:: ref_count :type: bool .. py:attribute:: type_string :type: bool .. py:class:: DumpOptionsBaseWithVars Bases: :py:obj:`DumpOptionsBase` .. py:attribute:: vars :type: bool .. py:property:: vars_depth :type: int .. py:class:: DumpOptionsLockingBase Bases: :py:obj:`DumpOptionsBaseWithVars` .. py:attribute:: downstream_deps :type: bool .. py:attribute:: healthy_status :type: bool .. py:attribute:: id :type: bool .. py:attribute:: upstream_deps :type: bool .. py:class:: JsonLogger(name: str) Base class for json loggers. Json log information will come in on the log functions, and derived classes can do whatever they want with it. .. py:attribute:: verbosity :type: LogLevel .. py:method:: log(json: Karana.Core.Json, verbosity: LogLevel) -> None log(json: Karana.Core.Json, verbosity: LogLevel) -> None Log information from a json object. :param json: The json log information. :param verbosity: The verbosity of the log message. .. py:class:: LockingBase(name: str) Bases: :py:obj:`BaseWithVars` Locking version of the Base class. This is the base class but with logic to make it healthy or not healthy. It also contains logic to add/remove dependents. .. py:method:: create(name: str) -> LockingBase :staticmethod: LockingBase class constructor. :param name: Name for the base class. :returns: A pointer to the newly created LockingBase. .. py:method:: addDependent(dependent: LockingBase) -> None Add `dependent` as a dependent of this, which means whenever we call `ensureNotHealthy` on this, we will call ensureNotHealthy on the dependent first. Similarly, to make the `dependent` healthy, we must first make this healthy. :param dependent: The LockingBase to add as a dependent. .. py:method:: dumpDependencyGraphviz(filename: os.PathLike | str | bytes, terminal: collections.abc.Sequence[LockingBase] = [], downstream_depth: SupportsInt | SupportsIndex = -1, upstream_depth: SupportsInt | SupportsIndex = -1) -> None Create a Graphviz dot file representing the dependency graph. :param filename: Output filename. :param terminal: Nodes to be considered as terminal nodes (stop created graph on current branch if one of these is reached). :param downstream_depth: Max depth for downstream traversal. :param upstream_depth: Max depth for upstream traversal. .. py:method:: dumpDependencyTree(prefix: str = '', depth: SupportsInt | SupportsIndex = -1, downstream: bool = True) -> None Display the dependency tree for the object. :param prefix: Optional prefix to add to each line. :param depth: Depth to traverse (default -1 means no limit). :param downstream: Whether to show downstream (true) or upstream (false) dependencies. .. py:method:: dumpString(prefix: str = '', options: DumpOptionsBase = None) -> str Return a formatted string containing information about this object. :param prefix: String prefix to use for formatting. :param options: Dump options (if null, defaults will be used). :returns: A string representation of the object. .. py:method:: ensureHealthy() -> None Make sure this object is healthy if it is not already so. .. py:method:: ensureNotHealthy() -> bool Make sure this object is in not healthy state if it is not already so. :returns: bool If true, then everything went as intended. If false, then we are _within_ensureHealthy. This is used to signal that we need to call ensureHealthy and not be not healthy. .. py:method:: freeze() -> None Freezes the cache to prevent it from becoming not healthy. .. py:method:: getVars() -> LockingBaseVars Get the vars for this object. :returns: The vars for this object. .. py:method:: isFrozen() -> bool Returns whether the cache is frozen or not. :returns: `true` if the cache is frozen, `false` otherwise. .. py:method:: isHealthy() -> bool Check whether this is healthy or not. :returns: True if this is healthy, false otherwise. .. py:method:: removeDependent(dependent: LockingBase) -> None Remove `dependent` as a dependent of this. See `addDependent` for more information on what a dependent is. Remove `dependent` as a dependent of this. :param dependent: The LockingBase to remove as a dependent. .. py:method:: unfreeze() -> None Unfreezes the cache to allow it to become not healthy. .. py:class:: LockingBaseVars Bases: :py:obj:`BaseVars` The Vars for the LockingBase class. .. py:property:: downstream_deps :type: VarVecString The downstream dependencies .. py:property:: healthy :type: VarBool The health status .. py:property:: upstream_deps :type: VarVecString The upstream dependencies .. py:class:: LogLevel Bases: :py:obj:`enum.IntEnum` Enum that keeps track of the verbosity levels. .. py:attribute:: DEBUG :type: ClassVar[LogLevel] .. py:attribute:: ERROR :type: ClassVar[LogLevel] .. py:attribute:: INFO :type: ClassVar[LogLevel] .. py:attribute:: NUM_TRACE :type: ClassVar[LogLevel] .. py:attribute:: OFF :type: ClassVar[LogLevel] .. py:attribute:: TRACE :type: ClassVar[LogLevel] .. py:attribute:: WARN :type: ClassVar[LogLevel] .. py:method:: __format__(format_spec) Convert to a string according to format_spec. .. py:class:: MsgLogger .. py:method:: addConsoleLogger(verbosity: LogLevel) -> None :staticmethod: Add a console logger. This prints errors to stderr and everything else to stdout. The stdout logger is called "stdout" and the stderr logger is called "stderr". :param verbosity: The verbosity of the stdout logger. .. py:method:: addFileLogger(filename: os.PathLike | str | bytes, verbosity: LogLevel) -> None :staticmethod: Add a file logger. This adds a logger that will print to the given file. The name of the logger is the same as the filename. :param filename: The name of the file to log to. :param verbosity: The verbosity of the new file logger. .. py:method:: addJsonLogger(logger: JsonLogger) -> None :staticmethod: Add a json logger. :param logger: The json logger to add. .. py:method:: changeVerbosity(name: str, verbosity: LogLevel) -> None :staticmethod: Change the verbosity of a logger. :param name: The name of the logger whose verbosity you want to change. :param verbosity: The new verbosity of the logger. .. py:method:: getVerbosity(name: str) -> LogLevel :staticmethod: Get the verbosity of a logger. :param name: The name of the logger whose verbosity you want to get. :returns: The verbosity of the provided logger. .. py:method:: removeLogger(name: str) -> None :staticmethod: Remove a logger. :param name: The name of the logger to remove. .. py:class:: NestedVars A structure to hold nested Vars. .. py:property:: description :type: str Description for the NestedVars .. py:property:: local_vars :type: list[Var] Local vars at the current level .. py:property:: name :type: str Name of the NestedVars .. py:property:: nested_vars :type: list[NestedVars] Nested Vars .. py:class:: Var(name: str) Bases: :py:obj:`Base` Base class for all Vars. .. py:method:: description() -> str Description of this Var. :returns: Description of this Var. .. py:method:: getType() -> VarType Get the VarType for this Var. :returns: The VarType for this Var. .. py:method:: quantity() -> str Quantity type of this Var. :returns: Quantity type of this Var. .. py:class:: VarBool(name: str, fn: collections.abc.Callable[[], bool], description: str, quantity: str = '') VarBool(name: str, other: VarBool, description: str) Bases: :py:obj:`Var` Base class for all Vars. .. py:method:: create(name: str, fn: collections.abc.Callable[[], bool], description: str, quantity: str = '') -> VarBool create(name: str, other: VarBool, description: str) -> VarBool :staticmethod: Rename Var_T constructor. This constructor keeps the same function, size, etc., but takes a new name and description. :param name: The name of the Var_T :param other: The Var_T to copy the callable and quantity from. :param description: A description of the Var. :returns: The newly created instance of Var_T. .. py:method:: __call__() -> bool Return the value that the Var contains. :returns: The value that the Var contains. .. py:class:: VarChar(name: str, fn: collections.abc.Callable[[], str], description: str, quantity: str = '') VarChar(name: str, other: VarChar, description: str) Bases: :py:obj:`Var` Base class for all Vars. .. py:method:: create(name: str, fn: collections.abc.Callable[[], str], description: str, quantity: str = '') -> VarChar create(name: str, other: VarChar, description: str) -> VarChar :staticmethod: Rename Var_T constructor. This constructor keeps the same function, size, etc., but takes a new name and description. :param name: The name of the Var_T :param other: The Var_T to copy the callable and quantity from. :param description: A description of the Var. :returns: The newly created instance of Var_T. .. py:method:: __call__() -> str Return the value that the Var contains. :returns: The value that the Var contains. .. py:class:: VarDouble(name: str, fn: collections.abc.Callable[[], float], description: str, quantity: str = '') VarDouble(name: str, other: VarDouble, description: str) Bases: :py:obj:`Var` Base class for all Vars. .. py:method:: create(name: str, fn: collections.abc.Callable[[], float], description: str, quantity: str = '') -> VarDouble create(name: str, other: VarDouble, description: str) -> VarDouble :staticmethod: Rename Var_T constructor. This constructor keeps the same function, size, etc., but takes a new name and description. :param name: The name of the Var_T :param other: The Var_T to copy the callable and quantity from. :param description: A description of the Var. :returns: The newly created instance of Var_T. .. py:method:: __call__() -> float Return the value that the Var contains. :returns: The value that the Var contains. .. py:method:: getPlottingFunction() -> collections.abc.Callable[[], float] Return the plotting function associated with this Var. :returns: The plotting function associated with this Var. .. py:class:: VarFloat(name: str, fn: collections.abc.Callable[[], float], description: str, quantity: str = '') VarFloat(name: str, other: VarFloat, description: str) Bases: :py:obj:`Var` Base class for all Vars. .. py:method:: create(name: str, fn: collections.abc.Callable[[], float], description: str, quantity: str = '') -> VarFloat create(name: str, other: VarFloat, description: str) -> VarFloat :staticmethod: Rename Var_T constructor. This constructor keeps the same function, size, etc., but takes a new name and description. :param name: The name of the Var_T :param other: The Var_T to copy the callable and quantity from. :param description: A description of the Var. :returns: The newly created instance of Var_T. .. py:method:: __call__() -> float Return the value that the Var contains. :returns: The value that the Var contains. .. py:class:: VarHomTran(name: str, fn: collections.abc.Callable[[], Karana.Math.HomTran], description: str, quantity: str = '') VarHomTran(name: str, other: VarHomTran, description: str) Bases: :py:obj:`Var` Base class for all Vars. .. py:method:: create(name: str, fn: collections.abc.Callable[[], Karana.Math.HomTran], description: str, quantity: str = '') -> VarHomTran create(name: str, other: VarHomTran, description: str) -> VarHomTran :staticmethod: Rename Var_T constructor. This constructor keeps the same function, size, etc., but takes a new name and description. :param name: The name of the Var_T :param other: The Var_T to copy the callable and quantity from. :param description: A description of the Var. :returns: The newly created instance of Var_T. .. py:method:: __call__() -> Karana.Math.HomTran Return the value that the Var contains. :returns: The value that the Var contains. .. py:class:: VarId(name: str, fn: collections.abc.Callable[[], int], description: str, quantity: str = '') VarId(name: str, other: VarId, description: str) Bases: :py:obj:`Var` Base class for all Vars. .. py:method:: create(name: str, fn: collections.abc.Callable[[], int], description: str, quantity: str = '') -> VarId create(name: str, other: VarId, description: str) -> VarId :staticmethod: Rename Var_T constructor. This constructor keeps the same function, size, etc., but takes a new name and description. :param name: The name of the Var_T :param other: The Var_T to copy the callable and quantity from. :param description: A description of the Var. :returns: The newly created instance of Var_T. .. py:method:: __call__() -> int Return the value that the Var contains. :returns: The value that the Var contains. .. py:class:: VarInt(name: str, fn: collections.abc.Callable[[], int], description: str, quantity: str = '') VarInt(name: str, other: VarInt, description: str) Bases: :py:obj:`Var` Base class for all Vars. .. py:method:: create(name: str, fn: collections.abc.Callable[[], int], description: str, quantity: str = '') -> VarInt create(name: str, other: VarInt, description: str) -> VarInt :staticmethod: Rename Var_T constructor. This constructor keeps the same function, size, etc., but takes a new name and description. :param name: The name of the Var_T :param other: The Var_T to copy the callable and quantity from. :param description: A description of the Var. :returns: The newly created instance of Var_T. .. py:method:: __call__() -> int Return the value that the Var contains. :returns: The value that the Var contains. .. py:class:: VarLong(name: str, fn: collections.abc.Callable[[], int], description: str, quantity: str = '') VarLong(name: str, other: VarLong, description: str) Bases: :py:obj:`Var` Base class for all Vars. .. py:method:: create(name: str, fn: collections.abc.Callable[[], int], description: str, quantity: str = '') -> VarLong create(name: str, other: VarLong, description: str) -> VarLong :staticmethod: Rename Var_T constructor. This constructor keeps the same function, size, etc., but takes a new name and description. :param name: The name of the Var_T :param other: The Var_T to copy the callable and quantity from. :param description: A description of the Var. :returns: The newly created instance of Var_T. .. py:method:: __call__() -> int Return the value that the Var contains. :returns: The value that the Var contains. .. py:class:: VarMat(name: str, fn: collections.abc.Callable[[], Annotated[numpy.typing.NDArray[numpy.float64], [m, n]]], matrix_rows: SupportsInt | SupportsIndex, matrix_cols: SupportsInt | SupportsIndex, description: str, quantity: str = '') VarMat(name: str, other: VarMat, description: str) Bases: :py:obj:`Var` Base class for all Vars. .. py:method:: create(name: str, fn: collections.abc.Callable[[], Annotated[numpy.typing.NDArray[numpy.float64], [m, n]]], matrix_rows: SupportsInt | SupportsIndex, matrix_cols: SupportsInt | SupportsIndex, description: str, quantity: str = '') -> VarMat create(name: str, other: VarMat, description: str) -> VarMat :staticmethod: Rename Var_T constructor. This constructor keeps the same function, size, etc., but takes a new name and description. :param name: The name of the Var_T :param other: The Var_T to copy the callable and quantity from. :param description: A description of the Var. :returns: The newly created instance of Var_T. .. py:method:: __call__() -> Annotated[numpy.typing.NDArray[numpy.float64], [m, n]] Return the value that the Var contains. :returns: The value that the Var contains. .. py:class:: VarMat33(name: str, fn: collections.abc.Callable[[], Annotated[numpy.typing.NDArray[numpy.float64], [3, 3]]], description: str, quantity: str = '') VarMat33(name: str, other: VarMat33, description: str) Bases: :py:obj:`Var` Base class for all Vars. .. py:method:: create(name: str, fn: collections.abc.Callable[[], Annotated[numpy.typing.NDArray[numpy.float64], [3, 3]]], description: str, quantity: str = '') -> VarMat33 create(name: str, other: VarMat33, description: str) -> VarMat33 :staticmethod: Rename Var_T constructor. This constructor keeps the same function, size, etc., but takes a new name and description. :param name: The name of the Var_T :param other: The Var_T to copy the callable and quantity from. :param description: A description of the Var. :returns: The newly created instance of Var_T. .. py:method:: __call__() -> Annotated[numpy.typing.NDArray[numpy.float64], [3, 3]] Return the value that the Var contains. :returns: The value that the Var contains. .. py:class:: VarMat66(name: str, fn: collections.abc.Callable[[], Annotated[numpy.typing.NDArray[numpy.float64], [6, 6]]], description: str, quantity: str = '') VarMat66(name: str, other: VarMat66, description: str) Bases: :py:obj:`Var` Base class for all Vars. .. py:method:: create(name: str, fn: collections.abc.Callable[[], Annotated[numpy.typing.NDArray[numpy.float64], [6, 6]]], description: str, quantity: str = '') -> VarMat66 create(name: str, other: VarMat66, description: str) -> VarMat66 :staticmethod: Rename Var_T constructor. This constructor keeps the same function, size, etc., but takes a new name and description. :param name: The name of the Var_T :param other: The Var_T to copy the callable and quantity from. :param description: A description of the Var. :returns: The newly created instance of Var_T. .. py:method:: __call__() -> Annotated[numpy.typing.NDArray[numpy.float64], [6, 6]] Return the value that the Var contains. :returns: The value that the Var contains. .. py:class:: VarShort(name: str, fn: collections.abc.Callable[[], int], description: str, quantity: str = '') VarShort(name: str, other: VarShort, description: str) Bases: :py:obj:`Var` Base class for all Vars. .. py:method:: create(name: str, fn: collections.abc.Callable[[], int], description: str, quantity: str = '') -> VarShort create(name: str, other: VarShort, description: str) -> VarShort :staticmethod: Rename Var_T constructor. This constructor keeps the same function, size, etc., but takes a new name and description. :param name: The name of the Var_T :param other: The Var_T to copy the callable and quantity from. :param description: A description of the Var. :returns: The newly created instance of Var_T. .. py:method:: __call__() -> int Return the value that the Var contains. :returns: The value that the Var contains. .. py:class:: VarSpatialAcceleration(name: str, fn: collections.abc.Callable[[], Karana.Math.SpatialAcceleration], description: str, quantity: str = '') VarSpatialAcceleration(name: str, other: VarSpatialAcceleration, description: str) Bases: :py:obj:`Var` Base class for all Vars. .. py:method:: create(name: str, fn: collections.abc.Callable[[], Karana.Math.SpatialAcceleration], description: str, quantity: str = '') -> VarSpatialAcceleration create(name: str, other: VarSpatialAcceleration, description: str) -> VarSpatialAcceleration :staticmethod: Rename Var_T constructor. This constructor keeps the same function, size, etc., but takes a new name and description. :param name: The name of the Var_T :param other: The Var_T to copy the callable and quantity from. :param description: A description of the Var. :returns: The newly created instance of Var_T. .. py:method:: __call__() -> Karana.Math.SpatialAcceleration Return the value that the Var contains. :returns: The value that the Var contains. .. py:method:: getPlottingFunction() -> collections.abc.Callable[[], Karana.Math.SpatialAcceleration] Return the plotting function associated with this Var. :returns: The plotting function associated with this Var. .. py:class:: VarSpatialForce(name: str, fn: collections.abc.Callable[[], Karana.Math.SpatialForce], description: str, quantity: str = '') VarSpatialForce(name: str, other: VarSpatialForce, description: str) Bases: :py:obj:`Var` Base class for all Vars. .. py:method:: create(name: str, fn: collections.abc.Callable[[], Karana.Math.SpatialForce], description: str, quantity: str = '') -> VarSpatialForce create(name: str, other: VarSpatialForce, description: str) -> VarSpatialForce :staticmethod: Rename Var_T constructor. This constructor keeps the same function, size, etc., but takes a new name and description. :param name: The name of the Var_T :param other: The Var_T to copy the callable and quantity from. :param description: A description of the Var. :returns: The newly created instance of Var_T. .. py:method:: __call__() -> Karana.Math.SpatialForce Return the value that the Var contains. :returns: The value that the Var contains. .. py:method:: getPlottingFunction() -> collections.abc.Callable[[], Karana.Math.SpatialForce] Return the plotting function associated with this Var. :returns: The plotting function associated with this Var. .. py:class:: VarSpatialVector(name: str, fn: collections.abc.Callable[[], Karana.Math.SpatialVector], description: str, quantity: str = '') VarSpatialVector(name: str, other: VarSpatialVector, description: str) Bases: :py:obj:`Var` Base class for all Vars. .. py:method:: create(name: str, fn: collections.abc.Callable[[], Karana.Math.SpatialVector], description: str, quantity: str = '') -> VarSpatialVector create(name: str, other: VarSpatialVector, description: str) -> VarSpatialVector :staticmethod: Rename Var_T constructor. This constructor keeps the same function, size, etc., but takes a new name and description. :param name: The name of the Var_T :param other: The Var_T to copy the callable and quantity from. :param description: A description of the Var. :returns: The newly created instance of Var_T. .. py:method:: __call__() -> Karana.Math.SpatialVector Return the value that the Var contains. :returns: The value that the Var contains. .. py:method:: getPlottingFunction() -> collections.abc.Callable[[], Karana.Math.SpatialVector] Return the plotting function associated with this Var. :returns: The plotting function associated with this Var. .. py:class:: VarSpatialVelocity(name: str, fn: collections.abc.Callable[[], Karana.Math.SpatialVelocity], description: str, quantity: str = '') VarSpatialVelocity(name: str, other: VarSpatialVelocity, description: str) Bases: :py:obj:`Var` Base class for all Vars. .. py:method:: create(name: str, fn: collections.abc.Callable[[], Karana.Math.SpatialVelocity], description: str, quantity: str = '') -> VarSpatialVelocity create(name: str, other: VarSpatialVelocity, description: str) -> VarSpatialVelocity :staticmethod: Rename Var_T constructor. This constructor keeps the same function, size, etc., but takes a new name and description. :param name: The name of the Var_T :param other: The Var_T to copy the callable and quantity from. :param description: A description of the Var. :returns: The newly created instance of Var_T. .. py:method:: __call__() -> Karana.Math.SpatialVelocity Return the value that the Var contains. :returns: The value that the Var contains. .. py:method:: getPlottingFunction() -> collections.abc.Callable[[], Karana.Math.SpatialVelocity] Return the plotting function associated with this Var. :returns: The plotting function associated with this Var. .. py:class:: VarString(name: str, fn: collections.abc.Callable[[], str], description: str, quantity: str = '') VarString(name: str, other: VarString, description: str) Bases: :py:obj:`Var` Base class for all Vars. .. py:method:: create(name: str, fn: collections.abc.Callable[[], str], description: str, quantity: str = '') -> VarString create(name: str, other: VarString, description: str) -> VarString :staticmethod: Rename Var_T constructor. This constructor keeps the same function, size, etc., but takes a new name and description. :param name: The name of the Var_T :param other: The Var_T to copy the callable and quantity from. :param description: A description of the Var. :returns: The newly created instance of Var_T. .. py:method:: __call__() -> str Return the value that the Var contains. :returns: The value that the Var contains. .. py:class:: VarType(*args, **kwds) Bases: :py:obj:`enum.Enum` Enums for the Var type. .. py:attribute:: BASEVARS :type: ClassVar[VarType] .. py:attribute:: CHAR :type: ClassVar[VarType] .. py:attribute:: DOUBLE :type: ClassVar[VarType] .. py:attribute:: FLOAT :type: ClassVar[VarType] .. py:attribute:: INT :type: ClassVar[VarType] .. py:attribute:: LONG :type: ClassVar[VarType] .. py:attribute:: MAT :type: ClassVar[VarType] .. py:attribute:: MAT33 :type: ClassVar[VarType] .. py:attribute:: MAT66 :type: ClassVar[VarType] .. py:attribute:: SHORT :type: ClassVar[VarType] .. py:attribute:: STRING :type: ClassVar[VarType] .. py:attribute:: VEC :type: ClassVar[VarType] .. py:attribute:: VEC3 :type: ClassVar[VarType] .. py:attribute:: VEC6 :type: ClassVar[VarType] .. py:attribute:: VEC_INT :type: ClassVar[VarType] .. py:class:: VarUnitQuaternion(name: str, fn: collections.abc.Callable[[], Karana.Math.UnitQuaternion], description: str, quantity: str = '') VarUnitQuaternion(name: str, other: VarUnitQuaternion, description: str) Bases: :py:obj:`Var` Base class for all Vars. .. py:method:: create(name: str, fn: collections.abc.Callable[[], Karana.Math.UnitQuaternion], description: str, quantity: str = '') -> VarUnitQuaternion create(name: str, other: VarUnitQuaternion, description: str) -> VarUnitQuaternion :staticmethod: Rename Var_T constructor. This constructor keeps the same function, size, etc., but takes a new name and description. :param name: The name of the Var_T :param other: The Var_T to copy the callable and quantity from. :param description: A description of the Var. :returns: The newly created instance of Var_T. .. py:method:: __call__() -> Karana.Math.UnitQuaternion Return the value that the Var contains. :returns: The value that the Var contains. .. py:class:: VarVec(name: str, fn: collections.abc.Callable[[], Annotated[numpy.typing.NDArray[numpy.float64], [m, 1]]], vector_size: SupportsInt | SupportsIndex, description: str, quantity: str = '') VarVec(name: str, other: VarVec, description: str) Bases: :py:obj:`Var` Base class for all Vars. .. py:method:: create(name: str, fn: collections.abc.Callable[[], Annotated[numpy.typing.NDArray[numpy.float64], [m, 1]]], vector_size: SupportsInt | SupportsIndex, description: str, quantity: str = '') -> VarVec create(name: str, other: VarVec, description: str) -> VarVec :staticmethod: Rename Var_T constructor. This constructor keeps the same function, size, etc., but takes a new name and description. :param name: The name of the Var_T :param other: The Var_T to copy the callable and quantity from. :param description: A description of the Var. :returns: The newly created instance of Var_T. .. py:method:: __call__() -> Annotated[numpy.typing.NDArray[numpy.float64], [m, 1]] Return the value that the Var contains. :returns: The value that the Var contains. .. py:method:: getPlottingFunction() -> collections.abc.Callable[[], Annotated[numpy.typing.NDArray[numpy.float64], [m, 1]]] Return the plotting function associated with this Var. :returns: The plotting function associated with this Var. .. py:class:: VarVec3(name: str, fn: collections.abc.Callable[[], Annotated[numpy.typing.NDArray[numpy.float64], [3, 1]]], description: str, quantity: str = '') VarVec3(name: str, other: VarVec3, description: str) Bases: :py:obj:`Var` Base class for all Vars. .. py:method:: create(name: str, fn: collections.abc.Callable[[], Annotated[numpy.typing.NDArray[numpy.float64], [3, 1]]], description: str, quantity: str = '') -> VarVec3 create(name: str, other: VarVec3, description: str) -> VarVec3 :staticmethod: Rename Var_T constructor. This constructor keeps the same function, size, etc., but takes a new name and description. :param name: The name of the Var_T :param other: The Var_T to copy the callable and quantity from. :param description: A description of the Var. :returns: The newly created instance of Var_T. .. py:method:: __call__() -> Annotated[numpy.typing.NDArray[numpy.float64], [3, 1]] Return the value that the Var contains. :returns: The value that the Var contains. .. py:method:: getPlottingFunction() -> collections.abc.Callable[[], Annotated[numpy.typing.NDArray[numpy.float64], [3, 1]]] Return the plotting function associated with this Var. :returns: The plotting function associated with this Var. .. py:class:: VarVec4(name: str, fn: collections.abc.Callable[[], Annotated[numpy.typing.NDArray[numpy.float64], [4, 1]]], description: str, quantity: str = '') VarVec4(name: str, other: VarVec4, description: str) Bases: :py:obj:`Var` Base class for all Vars. .. py:method:: create(name: str, fn: collections.abc.Callable[[], Annotated[numpy.typing.NDArray[numpy.float64], [4, 1]]], description: str, quantity: str = '') -> VarVec4 create(name: str, other: VarVec4, description: str) -> VarVec4 :staticmethod: Rename Var_T constructor. This constructor keeps the same function, size, etc., but takes a new name and description. :param name: The name of the Var_T :param other: The Var_T to copy the callable and quantity from. :param description: A description of the Var. :returns: The newly created instance of Var_T. .. py:method:: __call__() -> Annotated[numpy.typing.NDArray[numpy.float64], [4, 1]] Return the value that the Var contains. :returns: The value that the Var contains. .. py:class:: VarVec6(name: str, fn: collections.abc.Callable[[], Annotated[numpy.typing.NDArray[numpy.float64], [6, 1]]], description: str, quantity: str = '') VarVec6(name: str, other: VarVec6, description: str) Bases: :py:obj:`Var` Base class for all Vars. .. py:method:: create(name: str, fn: collections.abc.Callable[[], Annotated[numpy.typing.NDArray[numpy.float64], [6, 1]]], description: str, quantity: str = '') -> VarVec6 create(name: str, other: VarVec6, description: str) -> VarVec6 :staticmethod: Rename Var_T constructor. This constructor keeps the same function, size, etc., but takes a new name and description. :param name: The name of the Var_T :param other: The Var_T to copy the callable and quantity from. :param description: A description of the Var. :returns: The newly created instance of Var_T. .. py:method:: __call__() -> Annotated[numpy.typing.NDArray[numpy.float64], [6, 1]] Return the value that the Var contains. :returns: The value that the Var contains. .. py:class:: VarVecInt(name: str, fn: collections.abc.Callable[[], Annotated[numpy.typing.NDArray[numpy.int32], [m, 1]]], vector_size: SupportsInt | SupportsIndex, description: str, quantity: str = '') VarVecInt(name: str, other: VarVecInt, description: str) Bases: :py:obj:`Var` Base class for all Vars. .. py:method:: create(name: str, fn: collections.abc.Callable[[], Annotated[numpy.typing.NDArray[numpy.int32], [m, 1]]], vector_size: SupportsInt | SupportsIndex, description: str, quantity: str = '') -> VarVecInt create(name: str, other: VarVecInt, description: str) -> VarVecInt :staticmethod: Rename Var_T constructor. This constructor keeps the same function, size, etc., but takes a new name and description. :param name: The name of the Var_T :param other: The Var_T to copy the callable and quantity from. :param description: A description of the Var. :returns: The newly created instance of Var_T. .. py:method:: __call__() -> Annotated[numpy.typing.NDArray[numpy.int32], [m, 1]] Return the value that the Var contains. :returns: The value that the Var contains. .. py:class:: VarVecString(name: str, fn: collections.abc.Callable[[], list[str]], description: str, quantity: str = '') VarVecString(name: str, other: VarVecString, description: str) Bases: :py:obj:`Var` Base class for all Vars. .. py:method:: create(name: str, fn: collections.abc.Callable[[], list[str]], description: str, quantity: str = '') -> VarVecString create(name: str, other: VarVecString, description: str) -> VarVecString :staticmethod: Rename Var_T constructor. This constructor keeps the same function, size, etc., but takes a new name and description. :param name: The name of the Var_T :param other: The Var_T to copy the callable and quantity from. :param description: A description of the Var. :returns: The newly created instance of Var_T. .. py:method:: __call__() -> list[str] Return the value that the Var contains. :returns: The value that the Var contains. .. py:class:: VoidCallbackRegistry .. py:attribute:: trace_callback_registry :type: bool .. py:method:: __contains__(arg0: str) -> bool Check whether the given callback is contained within the registry. :param item: The name of the callback to check for. :type item: str :returns: True if the item is in the CallbackRegistry, False otherwise. :rtype: bool .. py:method:: __getitem__(key: str | SupportsInt | SupportsIndex) -> collections.abc.Callable[[], None] Get a function by name .. py:method:: __len__() -> int Get the number of callbacks registered to the CallbackRegistry. :returns: Number of callbacks registered in the CallbackRegistry. :rtype: int .. py:method:: __setitem__(key: str | SupportsInt | SupportsIndex, func: collections.abc.Callable[[], None]) -> None Set a function with a string name or integer index .. py:method:: clear() -> None Clear out the entire CallbackRegistry. All callbacks will be removed. .. py:method:: dump(prefix: str = '') -> None Print out the string from `dumpString`. See `dumpString` for more details. .. py:method:: dumpString(prefix: str = '') -> str Create a string that lists all the functions by name. .. py:method:: erase(name: str, okay_not_exists: bool = False) -> None erase(index: SupportsInt | SupportsIndex) -> None Erase the callback at the provided index. :param name: The index of the callback to erase. :type name: int .. py:method:: execute() -> None Execute all functions in the registry. .. py:method:: executeAndPopReverse() -> None Execute all functions in the registry in reverse and delete them as we go. .. py:method:: executeReverse() -> None Execute all functions in the registry in reverse. .. py:method:: insertAfter(item: str, name: str, fn: collections.abc.Callable[[], None]) -> None Insert a function after another in the registry. :param item: The name of the item to insert this new one after. :type item: str :param name: The name of the new item. :type name: str :param fn: The callback associated with the new item. :type fn: Callable .. py:method:: insertBefore(item: str, name: str, fn: collections.abc.Callable[[], None]) -> None Insert a function before another in the registry. :param item: The name of the item to insert this new one before. :type item: str :param name: The name of the new item. :type name: str :param fn: The callback associated with the new item. :type fn: Callable .. py:method:: pop(name: str) -> collections.abc.Callable[[], None] pop(index: SupportsInt | SupportsIndex) -> collections.abc.Callable[[], None] Pop the callback at the provided index. :param name: The index of the callback to pop. :type name: int .. py:method:: size() -> int Get the number of callbacks registered to the CallbackRegistry. :returns: Number of callbacks registered in the CallbackRegistry. :rtype: int .. py:function:: allDestroyed(bc: BaseContainer = None) -> bool Checks if all Base objects have been destroyed. This issues warnings for anything that has not been destroyed. :param bc: Pointer to the base container to check. If nullptr is provided (the default), then the BaseContainer::singleton will be used. :returns: True if all objects have been destroyed, false otherwise. .. py:function:: allHealthy(bc: BaseContainer = None) -> bool Checks whether all non-DataCache objects are healthy :param bc: Pointer to the base container whose LockingBases you want to check. If nullptr is provided (the default), then the BaseContainer::singleton will be used. :returns: True if all objects are healthy .. py:function:: allReady(bc: BaseContainer = None) -> bool Checks is the params for all the Base objects in the provided BaseContainer are ready. :param bc: Pointer to the base container to check. If nullptr is provided (the default), then the BaseContainer::singleton will be used. :returns: true if the all the Bases are ready, false otherwise. .. py:function:: debug(msg: str) -> None debug(f: collections.abc.Callable[[], str]) -> None Write an debug to all loggers using a function that outputs a message. This function is only executed if one or more sinks will consume it. :param f: The function that generates the debug message .. py:function:: debugJson(json: Karana.Core.Json) -> None debugJson(json: Karana.Core.Json, fn: collections.abc.Callable[[Karana.Core.Json], str]) -> None Write an debug to all loggers using the provided ordered json and json_to_string function. :param json: The ordered json debug information. :param fn: The function that generates a string from the provided ordered json. .. py:function:: discard(base: Base) -> None discard(bases: collections.abc.Sequence[Base]) -> None Discard a sequence of Bases. :param bases: The sequence of bases to discard. :type bases: collections.abc.Sequence[Base] .. py:function:: error(msg: str) -> None error(f: collections.abc.Callable[[], str]) -> None Write an error to all loggers using a function that outputs a message. This function is only executed if one or more sinks will consume it. :param f: The function that generates the error message .. py:function:: findShareDir() -> pathlib.Path Find the /share/Karana path on the system respecting the KARANA_SHARE_DIR environment variable override. :returns: The /share/Karana path .. py:function:: info(msg: str) -> None info(f: collections.abc.Callable[[], str]) -> None Write an info to all loggers using a function that outputs a message. This function is only executed if one or more sinks will consume it. :param f: The function that generates the info message .. py:function:: numTrace(msg: str) -> None numTrace(f: collections.abc.Callable[[], str]) -> None Write an num_trace to all loggers using a function that outputs a message. This function is only executed if one or more sinks will consume it. This will only run in debug mode. If NDEBUG is defined, it is a no-op. :param f: The function that generates the num_trace message .. py:function:: trace(msg: str) -> None trace(f: collections.abc.Callable[[], str]) -> None Write an trace to all loggers using a function that outputs a message. This function is only executed if one or more sinks will consume it. :param f: The function that generates the trace message .. py:function:: traceJson(json: Karana.Core.Json) -> None traceJson(json: Karana.Core.Json, fn: collections.abc.Callable[[Karana.Core.Json], str]) -> None Write an trace to all loggers using the provided ordered json and json_to_string function. :param json: The ordered_json trace information. :param fn: A function that generates a string from the provided ordered json. .. py:function:: warn(msg: str) -> None warn(f: collections.abc.Callable[[], str]) -> None Write an warn to all loggers using a function that outputs a message. This function is only executed if one or more sinks will consume it. :param f: The function that generates the warn message