From 20fc8099157855b00ada8cd077bd0a9591e62af1 Mon Sep 17 00:00:00 2001
From: Alexander Fabisch <alexander.fabisch@dfki.de>
Date: Mon, 17 Jul 2023 11:08:56 +0200
Subject: [PATCH] Make TransformManager.transforms a property

---
 pytransform3d/transform_manager.py  | 15 ++++++++++++---
 pytransform3d/transform_manager.pyi | 18 +++++++++++++++---
 2 files changed, 27 insertions(+), 6 deletions(-)

diff --git a/pytransform3d/transform_manager.py b/pytransform3d/transform_manager.py
index e5c434383..833652ad3 100644
--- a/pytransform3d/transform_manager.py
+++ b/pytransform3d/transform_manager.py
@@ -35,8 +35,6 @@ def __init__(self, strict_check=True, check=True):
 
         # Names of nodes
         self.nodes = []
-        # Rigid transformations between nodes
-        self.transforms = {}
 
         # A pair (self.i[n], self.j[n]) represents indices of connected nodes
         self.i = []
@@ -53,6 +51,11 @@ def __init__(self, strict_check=True, check=True):
 
         self._cached_shortest_paths = {}
 
+    @property
+    @abc.abstractmethod
+    def transforms(self):
+        """Rigid transformations between nodes."""
+
     def has_frame(self, frame):
         """Check if frame has been registered.
 
@@ -307,6 +310,12 @@ class TransformManager(TransformGraphBase):
     """
     def __init__(self, strict_check=True, check=True):
         super(TransformManager, self).__init__(strict_check, check)
+        self._transforms = {}
+
+    @property
+    def transforms(self):
+        """Rigid transformations between nodes."""
+        return self._transforms
 
     def _check_transform(self, A2B):
         return check_transform(A2B, strict_check=self.strict_check)
@@ -583,7 +592,7 @@ def set_transform_manager_state(self, tm_dict):
             Serializable dict.
         """
         transforms = tm_dict.get("transforms")
-        self.transforms = dict([
+        self._transforms = dict([
             (tuple(k), np.array(v).reshape(4, 4)) for k, v in transforms])
         self.nodes = tm_dict.get("nodes")
         self.i = tm_dict.get("i")
diff --git a/pytransform3d/transform_manager.pyi b/pytransform3d/transform_manager.pyi
index d33be2217..3fa9a6766 100644
--- a/pytransform3d/transform_manager.pyi
+++ b/pytransform3d/transform_manager.pyi
@@ -11,7 +11,6 @@ class TransformGraphBase(abc.ABC):
     strict_check: bool
     check: bool
     nodes: List[Hashable]
-    transforms: Dict[Tuple[Hashable, Hashable], np.ndarray]
     i: List[int]
     j: List[int]
     transform_to_ij_index = Dict[Tuple[Hashable, Hashable], int]
@@ -20,6 +19,13 @@ class TransformGraphBase(abc.ABC):
     predecessors: np.ndarray
     _cached_shortest_paths: Dict[Tuple[int, int], List[Hashable]]
 
+    def __init__(self, strict_check: bool = ...,
+                 check: bool = ...) -> "TransformGraphBase": ...
+
+    @property
+    @abc.abstractmethod
+    def transforms(self) -> Dict[Tuple[Hashable, Hashable], np.ndarray]: ...
+
     def has_frame(self, frame: Hashable) -> bool: ...
 
     def add_transform(self, from_frame: Hashable, to_frame: Hashable,
@@ -31,7 +37,7 @@ class TransformGraphBase(abc.ABC):
 
     def remove_transform(
             self, from_frame: Hashable,
-            to_frame: Hashable) -> "TransformManager": ...
+            to_frame: Hashable) -> "TransformGraphBase": ...
 
     def get_transform(
             self, from_frame: Hashable, to_frame: Hashable) -> Any: ...
@@ -50,7 +56,13 @@ class TransformGraphBase(abc.ABC):
 
 
 class TransformManager(TransformGraphBase):
-    def __init__(self, strict_check: bool = ..., check: bool = ...): ...
+    _transforms: Dict[Tuple[Hashable, Hashable], np.ndarray]
+
+    def __init__(self, strict_check: bool = ...,
+                 check: bool = ...) -> "TransformManager": ...
+
+    @property
+    def transforms(self) -> Dict[Tuple[Hashable, Hashable], np.ndarray]: ...
 
     def add_transform(self, from_frame: Hashable, to_frame: Hashable,
                       A2B: np.ndarray) -> "TransformManager": ...