def _loadAffordanceFromDescription(self, desc):
className = desc['classname']
cls = getattr(affordanceitems, className)
aff = cls(desc['Name'], self.view)
om.addToObjectModel(aff, parentObj=om.getOrCreateContainer('affordances'))
vis.addChildFrame(aff)
aff.loadDescription(desc, copyMode=aff.COPY_MODE_ALL)
self.registerAffordance(aff, notify=False)
def _loadAffordanceFromDescription(self, desc):
className = desc['classname']
cls = getattr(affordanceitems, className)
aff = cls(desc['Name'], self.view)
om.addToObjectModel(aff,
parentObj=om.getOrCreateContainer('affordances'))
vis.addChildFrame(aff)
aff.loadDescription(desc, copyMode=aff.COPY_MODE_ALL)
self.registerAffordance(aff, notify=False)
def buildRobot():
d = DebugData()
d.addCone((0,0,0), (1,0,0), height=0.2, radius=0.1)
obj = vis.showPolyData(d.getPolyData(), 'robot')
frame = vis.addChildFrame(obj)
return obj
def promotePolyDataItem(cls, obj):
parent = obj.parent()
view = obj.views[0]
name = obj.getProperty('Name')
polyData = obj.polyData
props = obj.properties._properties
childFrame = obj.getChildFrame()
if childFrame:
t = transformUtils.copyFrame(childFrame.transform)
else:
t = vtk.vtkTransform()
t.PostMultiply()
t.Translate(filterUtils.computeCentroid(polyData))
polyData = filterUtils.transformPolyData(polyData, t.GetLinearInverse())
children = [c for c in obj.children() if c is not childFrame]
meshId = cls.getMeshManager().add(polyData)
om.removeFromObjectModel(obj)
obj = MeshAffordanceItem(name, view)
obj.setProperty('Filename', meshId)
om.addToObjectModel(obj, parentObj=parent)
frame = vis.addChildFrame(obj)
frame.copyFrame(t)
for child in children:
om.addToObjectModel(child, parentObj=obj)
obj.syncProperties(props)
return obj
def buildRobot(x=0, y=0):
#print "building robot"
polyData = ioUtils.readPolyData('celica.obj')
scale = 0.04
t = vtk.vtkTransform()
t.RotateZ(90)
t.Scale(scale, scale, scale)
polyData = filterUtils.transformPolyData(polyData, t)
#d = DebugData()
#d.addCone((x,y,0), (1,0,0), height=0.2, radius=0.1)
#polyData = d.getPolyData()
obj = vis.showPolyData(polyData, 'robot')
robotFrame = vis.addChildFrame(obj)
# this makes sure we can only rotate it in two dimensions
robotFrame.setProperty('Scale', 3)
robotFrame.setProperty('Edit', True)
robotFrame.widget.HandleRotationEnabledOff()
rep = robotFrame.widget.GetRepresentation()
rep.SetTranslateAxisEnabled(2, False)
rep.SetRotateAxisEnabled(0, False)
rep.SetRotateAxisEnabled(1, False)
return obj, robotFrame
def promotePolyDataItem(cls, obj):
parent = obj.parent()
view = obj.views[0]
name = obj.getProperty('Name')
polyData = obj.polyData
props = obj.properties._properties
childFrame = obj.getChildFrame()
if childFrame:
t = transformUtils.copyFrame(childFrame.transform)
else:
t = vtk.vtkTransform()
t.PostMultiply()
t.Translate(filterUtils.computeCentroid(polyData))
polyData = filterUtils.transformPolyData(polyData,
t.GetLinearInverse())
children = [c for c in obj.children() if c is not childFrame]
meshId = cls.getMeshManager().add(polyData)
om.removeFromObjectModel(obj)
obj = MeshAffordanceItem(name, view)
obj.setProperty('Filename', meshId)
om.addToObjectModel(obj, parentObj=parent)
frame = vis.addChildFrame(obj)
frame.copyFrame(t)
for child in children:
om.addToObjectModel(child, parentObj=obj)
obj.syncProperties(props)
return obj
def buildRobot(x=0,y=0):
#print "building robot"
polyData = ioUtils.readPolyData('celica.obj')
scale = 0.04
t = vtk.vtkTransform()
t.RotateZ(90)
t.Scale(scale, scale, scale)
polyData = filterUtils.transformPolyData(polyData, t)
#d = DebugData()
#d.addCone((x,y,0), (1,0,0), height=0.2, radius=0.1)
#polyData = d.getPolyData()
obj = vis.showPolyData(polyData, 'robot')
robotFrame = vis.addChildFrame(obj)
return obj, robotFrame
def buildRobot(x=0, y=0):
#print "building robot"
polyData = ioUtils.readPolyData('crazyflie.obj')
scale = 0.01
t = vtk.vtkTransform()
t.RotateX(90)
t.Scale(scale, scale, scale)
polyData = filterUtils.transformPolyData(polyData, t)
#d = DebugData()
#d.addCone((x,y,0), (1,0,0), height=0.2, radius=0.1)
#polyData = d.getPolyData()
obj = vis.showPolyData(polyData, 'robot')
robotFrame = vis.addChildFrame(obj)
return obj, robotFrame
