Don't use transforms in base class

pytransform3d/transform_manager/_transform_graph_base.py

@@ -57,6 +57,22 @@ def _invert_transform(self, A2B):
  def _path_transform(self, path):
  """Convert sequence of node names to rigid transformation."""
 
+ @abc.abstractmethod
+ def _transform_available(self, key):
+ """Check if transformation key is available."""
+
+ @abc.abstractmethod
+ def _set_transform(self, key, A2B):
+ """Store transformation under given key."""
+
+ @abc.abstractmethod
+ def _get_transform(self, key):
+ """Retrieve stored transformation under given key."""
+
+ @abc.abstractmethod
+ def _del_transform(self, key):
+ """Delete transformation stored under given key."""
+
  def has_frame(self, frame):
  """Check if frame has been registered.
 
@@ -103,7 +119,7 @@ def add_transform(self, from_frame, to_frame, A2B):
  transform_key = (from_frame, to_frame)
 
  recompute_shortest_path = False
- if transform_key not in self.transforms:
+ if not self._transform_available(transform_key):
  ij_index = len(self.i)
  self.i.append(self.nodes.index(from_frame))
  self.j.append(self.nodes.index(to_frame))
@@ -113,7 +129,7 @@ def add_transform(self, from_frame, to_frame, A2B):
  if recompute_shortest_path:
  self._recompute_shortest_path()
 
- self.transforms[transform_key] = A2B
+ self._set_transform(transform_key, A2B)
 
  return self
 
@@ -147,8 +163,8 @@ def remove_transform(self, from_frame, to_frame):
  This object for chaining
  """
  transform_key = (from_frame, to_frame)
- if transform_key in self.transforms:
- del self.transforms[transform_key]
+ if self._transform_available(transform_key):
+ self._del_transform(transform_key)
  ij_index = self.transform_to_ij_index[transform_key]
  del self.transform_to_ij_index[transform_key]
  self.transform_to_ij_index = dict(
@@ -188,12 +204,12 @@ def get_transform(self, from_frame, to_frame):
  if to_frame not in self.nodes:
  raise KeyError("Unknown frame '%s'" % to_frame)
 
- if (from_frame, to_frame) in self.transforms:
- return self.transforms[(from_frame, to_frame)]
+ if self._transform_available((from_frame, to_frame)):
+ return self._get_transform((from_frame, to_frame))
 
- if (to_frame, from_frame) in self.transforms:
+ if self._transform_available((to_frame, from_frame)):
  return self._invert_transform(
- self.transforms[(to_frame, from_frame)])
+ self._get_transform((to_frame, from_frame)))
 
  i = self.nodes.index(from_frame)
  j = self.nodes.index(to_frame)

pytransform3d/transform_manager/_transform_graph_base.pyi

@@ -33,6 +33,18 @@ class TransformGraphBase(abc.ABC):
  @abc.abstractmethod
  def _path_transform(self, path: List[Hashable]) -> Any: ...
 
+ @abc.abstractmethod
+ def _transform_available(self, key: Tuple[Hashable, Hashable]) -> bool: ...
+
+ @abc.abstractmethod
+ def _set_transform(self, key: Tuple[Hashable, Hashable], A2B: Any): ...
+
+ @abc.abstractmethod
+ def _get_transform(self, key: Tuple[Hashable, Hashable]) -> Any: ...
+
+ @abc.abstractmethod
+ def _del_transform(self, key: Tuple[Hashable, Hashable]): ...
+
  def has_frame(self, frame: Hashable) -> bool: ...
 
  def add_transform(self, from_frame: Hashable, to_frame: Hashable,

pytransform3d/transform_manager/_transform_manager.py

@@ -75,6 +75,18 @@ def _path_transform(self, path):
  strict_check=self.strict_check, check=self.check)
  return A2B
 
+ def _transform_available(self, key):
+ return key in self._transforms
+
+ def _set_transform(self, key, A2B):
+ self._transforms[key] = A2B
+
+ def _get_transform(self, key):
+ return self._transforms[key]
+
+ def _del_transform(self, key):
+ del self._transforms[key]
+
  def plot_frames_in(self, frame, ax=None, s=1.0, ax_s=1, show_name=True,
  whitelist=None, **kwargs): # pragma: no cover
  """Plot all frames in a given reference frame.

pytransform3d/transform_manager/_transform_manager.pyi

@@ -23,6 +23,14 @@ class TransformManager(TransformGraphBase):
 
  def _path_transform(self, path: List[Hashable]) -> np.ndarray: ...
 
+ def _transform_available(self, key: Tuple[Hashable, Hashable]) -> bool: ...
+
+ def _set_transform(self, key: Tuple[Hashable, Hashable], A2B: Any): ...
+
+ def _get_transform(self, key: Tuple[Hashable, Hashable]) -> Any: ...
+
+ def _del_transform(self, key: Tuple[Hashable, Hashable]): ...
+
  def add_transform(self, from_frame: Hashable, to_frame: Hashable,
  A2B: np.ndarray) -> "TransformManager": ...