Karana.Core

Core modules and classes.

These are foundational and utilized by many of the other packages and modules.

Attributes

Json
T

Classes

CppWeakRef	Weak reference to C++ object.
Base	Base class used for Var and BaseWithVars.
BaseContainer	Container class that holds all the Base objects.
BaseVars	Common base class used by most simulation objects.
BaseWithVars
CppWeakRefBase
DebugManager
DumpOptionsBase
DumpOptionsBaseWithVars
DumpOptionsLockingBase
JsonLogger	Base class for json loggers. Json log information will come in on the
LockingBase	Locking version of the Base class. This is the base class but with
LockingBaseVars	The Vars for the LockingBase class.
LogLevel	Enum that keeps track of the verbosity levels.
MsgLogger
NestedVars	A structure to hold nested Vars.
Var	Base class for all Vars.
VarBool	Base class for all Vars.
VarChar	Base class for all Vars.
VarDouble	Base class for all Vars.
VarFloat	Base class for all Vars.
VarHomTran	Base class for all Vars.
VarId	Base class for all Vars.
VarInt	Base class for all Vars.
VarLong	Base class for all Vars.
VarMat	Base class for all Vars.
VarMat33	Base class for all Vars.
VarMat66	Base class for all Vars.
VarShort	Base class for all Vars.
VarSpatialAcceleration	Base class for all Vars.
VarSpatialForce	Base class for all Vars.
VarSpatialVector	Base class for all Vars.
VarSpatialVelocity	Base class for all Vars.
VarString	Base class for all Vars.
VarType	Enums for the Var type.
VarUnitQuaternion	Base class for all Vars.
VarVec	Base class for all Vars.
VarVec3	Base class for all Vars.
VarVec4	Base class for all Vars.
VarVec6	Base class for all Vars.
VarVecInt	Base class for all Vars.
VarVecString	Base class for all Vars.
VoidCallbackRegistry

Functions

deprecated(…)	Use this decorator is used to mark functions or classes as deprecated.
allDestroyed(→ bool)	Checks if all Base objects have been destroyed.
allHealthy(→ bool)	Checks whether all non-DataCache objects are healthy
allReady(→ bool)	Checks is the params for all the Base objects in the provided
debug(…)	Write an debug to all loggers using a function that outputs a message.
debugJson(…)	Write an debug to all loggers using the provided ordered json and
discard(…)	Discard a sequence of Bases.
error(…)	Write an error to all loggers using a function that outputs a message.
findShareDir(→ pathlib.Path)	Find the /share/Karana path on the system respecting the
info(…)	Write an info to all loggers using a function that outputs a message.
numTrace(…)	Write an num_trace to all loggers using a function that outputs a
trace(…)	Write an trace to all loggers using a function that outputs a message.
traceJson(…)	Write an trace to all loggers using the provided ordered json and
warn(…)	Write an warn to all loggers using a function that outputs a message.

Package Contents

type Karana.Core.Json = dict[str, str | int | float | 'Json']

Karana.Core.deprecated(name: str, removal_date: datetime.date | str, msg: str)

Karana.Core.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.

Karana.Core.T

class Karana.Core.CppWeakRef(base: T)

Bases: CppWeakRefBase, Generic[T]

Weak reference to C++ object.

Use the get() method to return a Python object from the C++ object if it exists.

__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.

Return type:

T | None

class Karana.Core.Base(name: str)

Base class used for Var and BaseWithVars.

Most simulation objects will derive from BaseWithVars.

dump(prefix: str = '', options: DumpOptionsBase = None) → None

Print dumpString on std::cout.

Parameters:

• prefix – A string to use as prefix for each output line

• options – Struct with options to tailor the output

dumpString(prefix: str = '', options: DumpOptionsBase = None) → str

Return information about the object.

Parameters:

• prefix – A string to use as prefix for each output line

• options – Struct with options to tailor the output

Returns:

String with the information about the object.

id() → int

id of this object. :returns: id of this object.

isReady() → bool

Checks is the params for the object have been initialized. :returns: True if the params have set up.

name() → str

Name of this object. :returns: Name of this object.

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.

class Karana.Core.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.

at_exit_fns: VoidCallbackRegistry

check_all_destroyed: bool

static singleton() → BaseContainer

Gets the singleton BaseContainer instance.

Returns:

A shared pointer to the singleton BaseContainer.

__iter__() → collections.abc.Iterator[tuple[int, Base]]

at(arg0: SupportsInt | SupportsIndex) → Base

Retrieves the Base pointer associated with the given ID.

Parameters:

id – The ID of the desired Base object.

Returns:

A pointer to the Base object, or nullptr if not found.

atLockingBase(arg0: SupportsInt | SupportsIndex) → LockingBase | None

Look for a Base at the given ID. Try to convert it to a LockingBase

contains(arg0: SupportsInt | SupportsIndex) → bool

Checks whether the container has an entry with the given ID.

Parameters:

id – The ID to check for.

Returns:

True if the ID is present; otherwise, false.

class Karana.Core.BaseVars

Common base class used by most simulation objects.

static create() → BaseVars

Create a new instance of BaseVars.

Parameters:

bwv – The BaseWithVars that this BaseVars will be associated with.

Returns:

A pointer to the newly created instance of BaseVars.

dump(prefix: str = '', depth: SupportsInt | SupportsIndex = 0) → None

Dump all of the Vars to stdout.

Parameters:

• prefix – The prefix to put in front of each Var.

• depth – How many levels deep to dump. A negative value will dump all levels.

dumpString(prefix: str = '', depth: SupportsInt | SupportsIndex = 0) → str

Dump all of the Vars as a string.

Parameters:

• prefix – The prefix to put in front of each Var.

• 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.

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.

class Karana.Core.BaseWithVars(name: str)

Bases: Base

static create(name: str) → BaseWithVars

Create an instance of BaseWithVars

Parameters:

name – Name for the BaseWithVars class.

Returns:

A pointer to the newly created BaseWithVars class.

getVars() → BaseVars

Get the vars for this object.

Returns:

The vars for this object.

class Karana.Core.CppWeakRefBase(base: Base)

__call__() → Base | None

Return a the base if it exists, None otherwise.

__deepcopy__(arg0: Any) → CppWeakRefBase

class Karana.Core.DebugManager

all_destroyed_message_limit: ClassVar[int] = 10

enable_locking_trace: ClassVar[bool] = False

static getUsageTrackingErrors() → bool

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.

static setUsageTrackingErrors(enable: bool) → None

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.

Parameters:

enable – If true, then enable usage tracking errors. If false, then disable it.

class Karana.Core.DumpOptionsBase

cache_deps: bool

id: bool

ref_count: bool

type_string: bool

class Karana.Core.DumpOptionsBaseWithVars

Bases: DumpOptionsBase

vars: bool

property vars_depth: int

class Karana.Core.DumpOptionsLockingBase

Bases: DumpOptionsBaseWithVars

downstream_deps: bool

healthy_status: bool

id: bool

upstream_deps: bool

class Karana.Core.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.

verbosity: LogLevel

log(json: Karana.Core.Json, verbosity: LogLevel) → None

log(json: Karana.Core.Json, verbosity: LogLevel) → None

Log information from a json object.

Parameters:

• json – The json log information.

• verbosity – The verbosity of the log message.

class Karana.Core.LockingBase(name: str)

Bases: 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.

static create(name: str) → LockingBase

LockingBase class constructor.

Parameters:

name – Name for the base class.

Returns:

A pointer to the newly created LockingBase.

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.

Parameters:

dependent – The LockingBase to add as a dependent.

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).

Parameters:

• downstream_depth – Max depth for downstream traversal.

• upstream_depth – Max depth for upstream traversal.

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.

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.

ensureHealthy() → None

Make sure this object is healthy if it is not already so.

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.

freeze() → None

Freezes the cache to prevent it from becoming not healthy.

getVars() → LockingBaseVars

Get the vars for this object.

Returns:

The vars for this object.

isFrozen() → bool

Returns whether the cache is frozen or not. :returns: true if the cache is frozen, false otherwise.

isHealthy() → bool

Check whether this is healthy or not. :returns: True if this is healthy, false otherwise.

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.

unfreeze() → None

Unfreezes the cache to allow it to become not healthy.

class Karana.Core.LockingBaseVars

Bases: BaseVars

The Vars for the LockingBase class.

property downstream_deps: VarVecString

The downstream dependencies

property healthy: VarBool

The health status

property upstream_deps: VarVecString

The upstream dependencies

class Karana.Core.LogLevel

Bases: enum.IntEnum

Enum that keeps track of the verbosity levels.

DEBUG: ClassVar[LogLevel]

ERROR: ClassVar[LogLevel]

INFO: ClassVar[LogLevel]

NUM_TRACE: ClassVar[LogLevel]

OFF: ClassVar[LogLevel]

TRACE: ClassVar[LogLevel]

WARN: ClassVar[LogLevel]

__format__(format_spec)

Convert to a string according to format_spec.

class Karana.Core.MsgLogger

static addConsoleLogger(verbosity: LogLevel) → None

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”.

Parameters:

verbosity – The verbosity of the stdout logger.

static addFileLogger(filename: os.PathLike | str | bytes, verbosity: LogLevel) → None

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.

Parameters:

• filename – The name of the file to log to.

• verbosity – The verbosity of the new file logger.

static addJsonLogger(logger: JsonLogger) → None

Add a json logger.

Parameters:

logger – The json logger to add.

static changeVerbosity(name: str, verbosity: LogLevel) → None

Change the verbosity of a logger.

Parameters:

• name – The name of the logger whose verbosity you want to change.

• verbosity – The new verbosity of the logger.

static getVerbosity(name: str) → LogLevel

Get the verbosity of a logger.

Parameters:

name – The name of the logger whose verbosity you want to get.

Returns:

The verbosity of the provided logger.

static removeLogger(name: str) → None

Remove a logger. :param name: The name of the logger to remove.

class Karana.Core.NestedVars

A structure to hold nested Vars.

property description: str

Description for the NestedVars

property local_vars: list[Var]

Local vars at the current level

property name: str

Name of the NestedVars

property nested_vars: list[NestedVars]

Nested Vars

class Karana.Core.Var(name: str)

Bases: Base

Base class for all Vars.

description() → str

Description of this Var. :returns: Description of this Var.

getType() → VarType

Get the VarType for this Var.

Returns:

The VarType for this Var.

quantity() → str

Quantity type of this Var. :returns: Quantity type of this Var.

class Karana.Core.VarBool(name: str, fn: collections.abc.Callable[[], bool], description: str, quantity: str = '')

class Karana.Core.VarBool(name: str, other: VarBool, description: str)

Bases: Var

Base class for all Vars.

static create(name: str, fn: collections.abc.Callable[[], bool], description: str, quantity: str = '') → VarBool

static create(name: str, other: VarBool, description: str) → VarBool

Rename Var_T constructor.

This constructor keeps the same function, size, etc., but takes a new name and description.

Parameters:

• name – The name of the Var_T<T>

• other – The Var_T<T> to copy the callable and quantity from.

• description – A description of the Var.

Returns:

The newly created instance of Var_T<T>.

__call__() → bool

Return the value that the Var contains.

Returns:

The value that the Var contains.

class Karana.Core.VarChar(name: str, fn: collections.abc.Callable[[], str], description: str, quantity: str = '')

class Karana.Core.VarChar(name: str, other: VarChar, description: str)

Bases: Var

Base class for all Vars.

static create(name: str, fn: collections.abc.Callable[[], str], description: str, quantity: str = '') → VarChar

static create(name: str, other: VarChar, description: str) → VarChar

Rename Var_T constructor.

This constructor keeps the same function, size, etc., but takes a new name and description.

Parameters:

• name – The name of the Var_T<T>

• other – The Var_T<T> to copy the callable and quantity from.

• description – A description of the Var.

Returns:

The newly created instance of Var_T<T>.

__call__() → str

Return the value that the Var contains.

Returns:

The value that the Var contains.

class Karana.Core.VarDouble(name: str, fn: collections.abc.Callable[[], float], description: str, quantity: str = '')

class Karana.Core.VarDouble(name: str, other: VarDouble, description: str)

Bases: Var

Base class for all Vars.

static create(name: str, fn: collections.abc.Callable[[], float], description: str, quantity: str = '') → VarDouble

static create(name: str, other: VarDouble, description: str) → VarDouble

Rename Var_T constructor.

This constructor keeps the same function, size, etc., but takes a new name and description.

Parameters:

• name – The name of the Var_T<T>

• other – The Var_T<T> to copy the callable and quantity from.

• description – A description of the Var.

Returns:

The newly created instance of Var_T<T>.

__call__() → float

Return the value that the Var contains.

Returns:

The value that the Var contains.

getPlottingFunction() → collections.abc.Callable[[], float]

Return the plotting function associated with this Var.

Returns:

The plotting function associated with this Var.

class Karana.Core.VarFloat(name: str, fn: collections.abc.Callable[[], float], description: str, quantity: str = '')

class Karana.Core.VarFloat(name: str, other: VarFloat, description: str)

Bases: Var

Base class for all Vars.

static create(name: str, fn: collections.abc.Callable[[], float], description: str, quantity: str = '') → VarFloat

static create(name: str, other: VarFloat, description: str) → VarFloat

Rename Var_T constructor.

This constructor keeps the same function, size, etc., but takes a new name and description.

Parameters:

• name – The name of the Var_T<T>

• other – The Var_T<T> to copy the callable and quantity from.

• description – A description of the Var.

Returns:

The newly created instance of Var_T<T>.

__call__() → float

Return the value that the Var contains.

Returns:

The value that the Var contains.

class Karana.Core.VarHomTran(name: str, fn: collections.abc.Callable[[], Karana.Math.HomTran], description: str, quantity: str = '')

class Karana.Core.VarHomTran(name: str, other: VarHomTran, description: str)

Bases: Var

Base class for all Vars.

static create(name: str, fn: collections.abc.Callable[[], Karana.Math.HomTran], description: str, quantity: str = '') → VarHomTran

static create(name: str, other: VarHomTran, description: str) → VarHomTran

Rename Var_T constructor.

This constructor keeps the same function, size, etc., but takes a new name and description.

Parameters:

• name – The name of the Var_T<T>

• other – The Var_T<T> to copy the callable and quantity from.

• description – A description of the Var.

Returns:

The newly created instance of Var_T<T>.

__call__() → Karana.Math.HomTran

Return the value that the Var contains.

Returns:

The value that the Var contains.

class Karana.Core.VarId(name: str, fn: collections.abc.Callable[[], int], description: str, quantity: str = '')

class Karana.Core.VarId(name: str, other: VarId, description: str)

Bases: Var

Base class for all Vars.

static create(name: str, fn: collections.abc.Callable[[], int], description: str, quantity: str = '') → VarId

static create(name: str, other: VarId, description: str) → VarId

Rename Var_T constructor.

This constructor keeps the same function, size, etc., but takes a new name and description.

Parameters:

• name – The name of the Var_T<T>

• other – The Var_T<T> to copy the callable and quantity from.

• description – A description of the Var.

Returns:

The newly created instance of Var_T<T>.

__call__() → int

Return the value that the Var contains.

Returns:

The value that the Var contains.

class Karana.Core.VarInt(name: str, fn: collections.abc.Callable[[], int], description: str, quantity: str = '')

class Karana.Core.VarInt(name: str, other: VarInt, description: str)

Bases: Var

Base class for all Vars.

static create(name: str, fn: collections.abc.Callable[[], int], description: str, quantity: str = '') → VarInt

static create(name: str, other: VarInt, description: str) → VarInt

Rename Var_T constructor.

This constructor keeps the same function, size, etc., but takes a new name and description.

Parameters:

• name – The name of the Var_T<T>

• other – The Var_T<T> to copy the callable and quantity from.

• description – A description of the Var.

Returns:

The newly created instance of Var_T<T>.

__call__() → int

Return the value that the Var contains.

Returns:

The value that the Var contains.

class Karana.Core.VarLong(name: str, fn: collections.abc.Callable[[], int], description: str, quantity: str = '')

class Karana.Core.VarLong(name: str, other: VarLong, description: str)

Bases: Var

Base class for all Vars.

static create(name: str, fn: collections.abc.Callable[[], int], description: str, quantity: str = '') → VarLong

static create(name: str, other: VarLong, description: str) → VarLong

Rename Var_T constructor.

This constructor keeps the same function, size, etc., but takes a new name and description.

Parameters:

• name – The name of the Var_T<T>

• other – The Var_T<T> to copy the callable and quantity from.

• description – A description of the Var.

Returns:

The newly created instance of Var_T<T>.

__call__() → int

Return the value that the Var contains.

Returns:

The value that the Var contains.

class Karana.Core.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 = '')

class Karana.Core.VarMat(name: str, other: VarMat, description: str)

Bases: Var

Base class for all Vars.

static 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

static create(name: str, other: VarMat, description: str) → VarMat

Rename Var_T constructor.

This constructor keeps the same function, size, etc., but takes a new name and description.

Parameters:

• name – The name of the Var_T<T>

• other – The Var_T<T> to copy the callable and quantity from.

• description – A description of the Var.

Returns:

The newly created instance of Var_T<T>.

__call__() → Annotated[numpy.typing.NDArray[numpy.float64], [m, n]]

Return the value that the Var contains.

Returns:

The value that the Var contains.

class Karana.Core.VarMat33(name: str, fn: collections.abc.Callable[[], Annotated[numpy.typing.NDArray[numpy.float64], [3, 3]]], description: str, quantity: str = '')

class Karana.Core.VarMat33(name: str, other: VarMat33, description: str)

Bases: Var

Base class for all Vars.

static create(name: str, fn: collections.abc.Callable[[], Annotated[numpy.typing.NDArray[numpy.float64], [3, 3]]], description: str, quantity: str = '') → VarMat33

static create(name: str, other: VarMat33, description: str) → VarMat33

Rename Var_T constructor.

This constructor keeps the same function, size, etc., but takes a new name and description.

Parameters:

• name – The name of the Var_T<T>

• other – The Var_T<T> to copy the callable and quantity from.

• description – A description of the Var.

Returns:

The newly created instance of Var_T<T>.

__call__() → Annotated[numpy.typing.NDArray[numpy.float64], [3, 3]]

Return the value that the Var contains.

Returns:

The value that the Var contains.

class Karana.Core.VarMat66(name: str, fn: collections.abc.Callable[[], Annotated[numpy.typing.NDArray[numpy.float64], [6, 6]]], description: str, quantity: str = '')

class Karana.Core.VarMat66(name: str, other: VarMat66, description: str)

Bases: Var

Base class for all Vars.

static create(name: str, fn: collections.abc.Callable[[], Annotated[numpy.typing.NDArray[numpy.float64], [6, 6]]], description: str, quantity: str = '') → VarMat66

static create(name: str, other: VarMat66, description: str) → VarMat66

Rename Var_T constructor.

This constructor keeps the same function, size, etc., but takes a new name and description.

Parameters:

• name – The name of the Var_T<T>

• other – The Var_T<T> to copy the callable and quantity from.

• description – A description of the Var.

Returns:

The newly created instance of Var_T<T>.

__call__() → Annotated[numpy.typing.NDArray[numpy.float64], [6, 6]]

Return the value that the Var contains.

Returns:

The value that the Var contains.

class Karana.Core.VarShort(name: str, fn: collections.abc.Callable[[], int], description: str, quantity: str = '')

class Karana.Core.VarShort(name: str, other: VarShort, description: str)

Bases: Var

Base class for all Vars.

static create(name: str, fn: collections.abc.Callable[[], int], description: str, quantity: str = '') → VarShort

static create(name: str, other: VarShort, description: str) → VarShort

Rename Var_T constructor.

This constructor keeps the same function, size, etc., but takes a new name and description.

Parameters:

• name – The name of the Var_T<T>

• other – The Var_T<T> to copy the callable and quantity from.

• description – A description of the Var.

Returns:

The newly created instance of Var_T<T>.

__call__() → int

Return the value that the Var contains.

Returns:

The value that the Var contains.

class Karana.Core.VarSpatialAcceleration(name: str, fn: collections.abc.Callable[[], Karana.Math.SpatialAcceleration], description: str, quantity: str = '')

class Karana.Core.VarSpatialAcceleration(name: str, other: VarSpatialAcceleration, description: str)

Bases: Var

Base class for all Vars.

static create(name: str, fn: collections.abc.Callable[[], Karana.Math.SpatialAcceleration], description: str, quantity: str = '') → VarSpatialAcceleration

static create(name: str, other: VarSpatialAcceleration, description: str) → VarSpatialAcceleration

Rename Var_T constructor.

This constructor keeps the same function, size, etc., but takes a new name and description.

Parameters:

• name – The name of the Var_T<T>

• other – The Var_T<T> to copy the callable and quantity from.

• description – A description of the Var.

Returns:

The newly created instance of Var_T<T>.

__call__() → Karana.Math.SpatialAcceleration

Return the value that the Var contains.

Returns:

The value that the Var contains.

getPlottingFunction() → collections.abc.Callable[[], Karana.Math.SpatialAcceleration]

Return the plotting function associated with this Var.

Returns:

The plotting function associated with this Var.

class Karana.Core.VarSpatialForce(name: str, fn: collections.abc.Callable[[], Karana.Math.SpatialForce], description: str, quantity: str = '')

class Karana.Core.VarSpatialForce(name: str, other: VarSpatialForce, description: str)

Bases: Var

Base class for all Vars.

static create(name: str, fn: collections.abc.Callable[[], Karana.Math.SpatialForce], description: str, quantity: str = '') → VarSpatialForce

static create(name: str, other: VarSpatialForce, description: str) → VarSpatialForce

Rename Var_T constructor.

This constructor keeps the same function, size, etc., but takes a new name and description.

Parameters:

• name – The name of the Var_T<T>

• other – The Var_T<T> to copy the callable and quantity from.

• description – A description of the Var.

Returns:

The newly created instance of Var_T<T>.

__call__() → Karana.Math.SpatialForce

Return the value that the Var contains.

Returns:

The value that the Var contains.

getPlottingFunction() → collections.abc.Callable[[], Karana.Math.SpatialForce]

Return the plotting function associated with this Var.

Returns:

The plotting function associated with this Var.

class Karana.Core.VarSpatialVector(name: str, fn: collections.abc.Callable[[], Karana.Math.SpatialVector], description: str, quantity: str = '')

class Karana.Core.VarSpatialVector(name: str, other: VarSpatialVector, description: str)

Bases: Var

Base class for all Vars.

static create(name: str, fn: collections.abc.Callable[[], Karana.Math.SpatialVector], description: str, quantity: str = '') → VarSpatialVector

static create(name: str, other: VarSpatialVector, description: str) → VarSpatialVector

Rename Var_T constructor.

This constructor keeps the same function, size, etc., but takes a new name and description.

Parameters:

• name – The name of the Var_T<T>

• other – The Var_T<T> to copy the callable and quantity from.

• description – A description of the Var.

Returns:

The newly created instance of Var_T<T>.

__call__() → Karana.Math.SpatialVector

Return the value that the Var contains.

Returns:

The value that the Var contains.

getPlottingFunction() → collections.abc.Callable[[], Karana.Math.SpatialVector]

Return the plotting function associated with this Var.

Returns:

The plotting function associated with this Var.

class Karana.Core.VarSpatialVelocity(name: str, fn: collections.abc.Callable[[], Karana.Math.SpatialVelocity], description: str, quantity: str = '')

class Karana.Core.VarSpatialVelocity(name: str, other: VarSpatialVelocity, description: str)

Bases: Var

Base class for all Vars.

static create(name: str, fn: collections.abc.Callable[[], Karana.Math.SpatialVelocity], description: str, quantity: str = '') → VarSpatialVelocity

static create(name: str, other: VarSpatialVelocity, description: str) → VarSpatialVelocity

Rename Var_T constructor.

This constructor keeps the same function, size, etc., but takes a new name and description.

Parameters:

• name – The name of the Var_T<T>

• other – The Var_T<T> to copy the callable and quantity from.

• description – A description of the Var.

Returns:

The newly created instance of Var_T<T>.

__call__() → Karana.Math.SpatialVelocity

Return the value that the Var contains.

Returns:

The value that the Var contains.

getPlottingFunction() → collections.abc.Callable[[], Karana.Math.SpatialVelocity]

Return the plotting function associated with this Var.

Returns:

The plotting function associated with this Var.

class Karana.Core.VarString(name: str, fn: collections.abc.Callable[[], str], description: str, quantity: str = '')

class Karana.Core.VarString(name: str, other: VarString, description: str)

Bases: Var

Base class for all Vars.

static create(name: str, fn: collections.abc.Callable[[], str], description: str, quantity: str = '') → VarString

static create(name: str, other: VarString, description: str) → VarString

Rename Var_T constructor.

This constructor keeps the same function, size, etc., but takes a new name and description.

Parameters:

• name – The name of the Var_T<T>

• other – The Var_T<T> to copy the callable and quantity from.

• description – A description of the Var.

Returns:

The newly created instance of Var_T<T>.

__call__() → str

Return the value that the Var contains.

Returns:

The value that the Var contains.

class Karana.Core.VarType(*args, **kwds)

Bases: enum.Enum

Enums for the Var type.

BASEVARS: ClassVar[VarType]

CHAR: ClassVar[VarType]

DOUBLE: ClassVar[VarType]

FLOAT: ClassVar[VarType]

INT: ClassVar[VarType]

LONG: ClassVar[VarType]

MAT: ClassVar[VarType]

MAT33: ClassVar[VarType]

MAT66: ClassVar[VarType]

SHORT: ClassVar[VarType]

STRING: ClassVar[VarType]

VEC: ClassVar[VarType]

VEC3: ClassVar[VarType]

VEC6: ClassVar[VarType]

VEC_INT: ClassVar[VarType]

class Karana.Core.VarUnitQuaternion(name: str, fn: collections.abc.Callable[[], Karana.Math.UnitQuaternion], description: str, quantity: str = '')

class Karana.Core.VarUnitQuaternion(name: str, other: VarUnitQuaternion, description: str)

Bases: Var

Base class for all Vars.

static create(name: str, fn: collections.abc.Callable[[], Karana.Math.UnitQuaternion], description: str, quantity: str = '') → VarUnitQuaternion

static create(name: str, other: VarUnitQuaternion, description: str) → VarUnitQuaternion

Rename Var_T constructor.

This constructor keeps the same function, size, etc., but takes a new name and description.

Parameters:

• name – The name of the Var_T<T>

• other – The Var_T<T> to copy the callable and quantity from.

• description – A description of the Var.

Returns:

The newly created instance of Var_T<T>.

__call__() → Karana.Math.UnitQuaternion

Return the value that the Var contains.

Returns:

The value that the Var contains.

class Karana.Core.VarVec(name: str, fn: collections.abc.Callable[[], Annotated[numpy.typing.NDArray[numpy.float64], [m, 1]]], vector_size: SupportsInt | SupportsIndex, description: str, quantity: str = '')

class Karana.Core.VarVec(name: str, other: VarVec, description: str)

Bases: Var

Base class for all Vars.

static create(name: str, fn: collections.abc.Callable[[], Annotated[numpy.typing.NDArray[numpy.float64], [m, 1]]], vector_size: SupportsInt | SupportsIndex, description: str, quantity: str = '') → VarVec

static create(name: str, other: VarVec, description: str) → VarVec

Rename Var_T constructor.

This constructor keeps the same function, size, etc., but takes a new name and description.

Parameters:

• name – The name of the Var_T<T>

• other – The Var_T<T> to copy the callable and quantity from.

• description – A description of the Var.

Returns:

The newly created instance of Var_T<T>.

__call__() → Annotated[numpy.typing.NDArray[numpy.float64], [m, 1]]

Return the value that the Var contains.

Returns:

The value that the Var contains.

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.

class Karana.Core.VarVec3(name: str, fn: collections.abc.Callable[[], Annotated[numpy.typing.NDArray[numpy.float64], [3, 1]]], description: str, quantity: str = '')

class Karana.Core.VarVec3(name: str, other: VarVec3, description: str)

Bases: Var

Base class for all Vars.

static create(name: str, fn: collections.abc.Callable[[], Annotated[numpy.typing.NDArray[numpy.float64], [3, 1]]], description: str, quantity: str = '') → VarVec3

static create(name: str, other: VarVec3, description: str) → VarVec3

Rename Var_T constructor.

This constructor keeps the same function, size, etc., but takes a new name and description.

Parameters:

• name – The name of the Var_T<T>

• other – The Var_T<T> to copy the callable and quantity from.

• description – A description of the Var.

Returns:

The newly created instance of Var_T<T>.

__call__() → Annotated[numpy.typing.NDArray[numpy.float64], [3, 1]]

Return the value that the Var contains.

Returns:

The value that the Var contains.

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.

class Karana.Core.VarVec4(name: str, fn: collections.abc.Callable[[], Annotated[numpy.typing.NDArray[numpy.float64], [4, 1]]], description: str, quantity: str = '')

class Karana.Core.VarVec4(name: str, other: VarVec4, description: str)

Bases: Var

Base class for all Vars.

static create(name: str, fn: collections.abc.Callable[[], Annotated[numpy.typing.NDArray[numpy.float64], [4, 1]]], description: str, quantity: str = '') → VarVec4

static create(name: str, other: VarVec4, description: str) → VarVec4

Rename Var_T constructor.

This constructor keeps the same function, size, etc., but takes a new name and description.

Parameters:

• name – The name of the Var_T<T>

• other – The Var_T<T> to copy the callable and quantity from.

• description – A description of the Var.

Returns:

The newly created instance of Var_T<T>.

__call__() → Annotated[numpy.typing.NDArray[numpy.float64], [4, 1]]

Return the value that the Var contains.

Returns:

The value that the Var contains.

class Karana.Core.VarVec6(name: str, fn: collections.abc.Callable[[], Annotated[numpy.typing.NDArray[numpy.float64], [6, 1]]], description: str, quantity: str = '')

class Karana.Core.VarVec6(name: str, other: VarVec6, description: str)

Bases: Var

Base class for all Vars.

static create(name: str, fn: collections.abc.Callable[[], Annotated[numpy.typing.NDArray[numpy.float64], [6, 1]]], description: str, quantity: str = '') → VarVec6

static create(name: str, other: VarVec6, description: str) → VarVec6

Rename Var_T constructor.

This constructor keeps the same function, size, etc., but takes a new name and description.

Parameters:

• name – The name of the Var_T<T>

• other – The Var_T<T> to copy the callable and quantity from.

• description – A description of the Var.

Returns:

The newly created instance of Var_T<T>.

__call__() → Annotated[numpy.typing.NDArray[numpy.float64], [6, 1]]

Return the value that the Var contains.

Returns:

The value that the Var contains.

class Karana.Core.VarVecInt(name: str, fn: collections.abc.Callable[[], Annotated[numpy.typing.NDArray[numpy.int32], [m, 1]]], vector_size: SupportsInt | SupportsIndex, description: str, quantity: str = '')

class Karana.Core.VarVecInt(name: str, other: VarVecInt, description: str)

Bases: Var

Base class for all Vars.

static create(name: str, fn: collections.abc.Callable[[], Annotated[numpy.typing.NDArray[numpy.int32], [m, 1]]], vector_size: SupportsInt | SupportsIndex, description: str, quantity: str = '') → VarVecInt

static create(name: str, other: VarVecInt, description: str) → VarVecInt

Rename Var_T constructor.

This constructor keeps the same function, size, etc., but takes a new name and description.

Parameters:

• name – The name of the Var_T<T>

• other – The Var_T<T> to copy the callable and quantity from.

• description – A description of the Var.

Returns:

The newly created instance of Var_T<T>.

__call__() → Annotated[numpy.typing.NDArray[numpy.int32], [m, 1]]

Return the value that the Var contains.

Returns:

The value that the Var contains.

class Karana.Core.VarVecString(name: str, fn: collections.abc.Callable[[], list[str]], description: str, quantity: str = '')

class Karana.Core.VarVecString(name: str, other: VarVecString, description: str)

Bases: Var

Base class for all Vars.

static create(name: str, fn: collections.abc.Callable[[], list[str]], description: str, quantity: str = '') → VarVecString

static create(name: str, other: VarVecString, description: str) → VarVecString

Rename Var_T constructor.

This constructor keeps the same function, size, etc., but takes a new name and description.

Parameters:

• name – The name of the Var_T<T>

• other – The Var_T<T> to copy the callable and quantity from.

• description – A description of the Var.

Returns:

The newly created instance of Var_T<T>.

__call__() → list[str]

Return the value that the Var contains.

Returns:

The value that the Var contains.

class Karana.Core.VoidCallbackRegistry

trace_callback_registry: bool

__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.

Return type:

bool

__getitem__(key: str | SupportsInt | SupportsIndex) → collections.abc.Callable[[], None]

Get a function by name

__len__() → int

Get the number of callbacks registered to the CallbackRegistry.

Returns:

Number of callbacks registered in the CallbackRegistry.

Return type:

int

__setitem__(key: str | SupportsInt | SupportsIndex, func: collections.abc.Callable[[], None]) → None

Set a function with a string name or integer index

clear() → None

Clear out the entire CallbackRegistry. All callbacks will be removed.

dump(prefix: str = '') → None

Print out the string from dumpString. See dumpString for more details.

dumpString(prefix: str = '') → str

Create a string that lists all the functions by name.

erase(name: str, okay_not_exists: bool = False) → None

erase(index: SupportsInt | SupportsIndex) → None

Erase the callback at the provided index.

Parameters:

name (int) – The index of the callback to erase.

execute() → None

Execute all functions in the registry.

executeAndPopReverse() → None

Execute all functions in the registry in reverse and delete them as we go.

executeReverse() → None

Execute all functions in the registry in reverse.

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

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

pop(name: str) → collections.abc.Callable[[], None]

pop(index: SupportsInt | SupportsIndex) → collections.abc.Callable[[], None]

Pop the callback at the provided index.

Parameters:

name (int) – The index of the callback to pop.

size() → int

Get the number of callbacks registered to the CallbackRegistry.

Returns:

Number of callbacks registered in the CallbackRegistry.

Return type:

int

Karana.Core.allDestroyed(bc: BaseContainer = None) → bool

Checks if all Base objects have been destroyed.

This issues warnings for anything that has not been destroyed.

Parameters:

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.

Karana.Core.allHealthy(bc: BaseContainer = None) → bool

Checks whether all non-DataCache objects are healthy

Parameters:

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

Karana.Core.allReady(bc: BaseContainer = None) → bool

Checks is the params for all the Base objects in the provided

BaseContainer are ready.

Parameters:

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.

Karana.Core.debug(msg: str) → None

Karana.Core.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.

Parameters:

f – The function that generates the debug message

Karana.Core.debugJson(json: Karana.Core.Json) → None

Karana.Core.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.

Parameters:

• json – The ordered json debug information.

• fn – The function that generates a string from the provided ordered json.

Karana.Core.discard(base: Base) → None

Karana.Core.discard(bases: collections.abc.Sequence[Base]) → None

Discard a sequence of Bases.

Parameters:

bases (collections.abc.Sequence[Base]) – The sequence of bases to discard.

Karana.Core.error(msg: str) → None

Karana.Core.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.

Parameters:

f – The function that generates the error message

Karana.Core.findShareDir() → pathlib.Path

Find the /share/Karana path on the system respecting the KARANA_SHARE_DIR environment variable override.

Returns:

The /share/Karana path

Karana.Core.info(msg: str) → None

Karana.Core.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.

Parameters:

f – The function that generates the info message

Karana.Core.numTrace(msg: str) → None

Karana.Core.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.

Parameters:

f – The function that generates the num_trace message

Karana.Core.trace(msg: str) → None

Karana.Core.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.

Parameters:

f – The function that generates the trace message

Karana.Core.traceJson(json: Karana.Core.Json) → None

Karana.Core.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.

Parameters:

• json – The ordered_json trace information.

• fn – A function that generates a string from the provided ordered json.

Karana.Core.warn(msg: str) → None

Karana.Core.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.

Parameters:

f – The function that generates the warn message