def __init__(self, config_file="body_model.conf", section="BodyModel"):
c = ConfigParser()
if not path.exists(config_file):
print 'Config file %s not found!' % config_file
raise IOError
c.read(config_file)
self.legs = [LegModel() for i in range(NUM_LEGS)]
# Leg Offsets
self.LEG0_OFFSET_X = c.getfloat(section, "leg0_offset_x")
self.LEG0_OFFSET_Y = c.getfloat(section, "leg0_offset_y")
self.LEG0_THETA = c.getfloat(section, "leg0_theta")
self.LEG1_OFFSET_X = c.getfloat(section, "leg1_offset_x")
self.LEG1_OFFSET_Y = c.getfloat(section, "leg1_offset_y")
self.CHASSIS_BOTTOM_Z = c.getfloat(section, "chassis_bottom_z")
def setUp(self):
installArrayTypeEqualityFunction(self)
self.leg = LegModel()
self.leg_state = [array([0.0, 0.0, 0.0]), 0.0]
