def _generate_env_properties(self):
env_props = bpymorse.get_properties(self.env._bpy_object)
longitude = env_props.get('longitude')
geod_latitude = env_props.get('latitude')
altitude = env_props.get('altitude')
if 'angle_against_north' in env_props:
angle = env_props.get('angle_against_north') - pi / 2
else:
angle = 0.0
try:
self.coord_conv = CoordinateConverter(geod_latitude, longitude,
altitude, angle)
except:
self.coord_conv = CoordinateConverter(geod_latitude, longitude,
altitude)
geoc = self.coord_conv.ecef_to_geocentric(
self.coord_conv.ltp_to_ecef(
self.coord_conv.blender_to_ltp(numpy.matrix([0.0, 0.0, 0.0]))))
geoc[0, 0] = degrees(geoc[0, 0])
geoc[0, 1] = degrees(geoc[0, 1])
geoc[0, 2] -= self.coord_conv.A
self.properties['env'] = {
'longitude': geoc[0, 0],
'latitude': geoc[0, 1],
'altitude': geoc[0, 2]
}
def unparent_wheels(self):
""" Make the wheels orphans, but keep the transformation applied to
the parent robot """
# Force Blender to update the transformation matrices of objects
bpymorse.get_context_scene().update()
wheels = [child for child in self._bpy_object.children if \
"wheel" in child.name.lower()]
wnames = ['None'] * 5
keys = [
'WheelFLName', 'WheelFRName', 'WheelRLName', 'WheelRRName',
'CasterWheelName'
]
properties = bpymorse.get_properties(self._bpy_object)
for i in range(5):
key = keys[i]
expected_wheel = properties.get(key, None)
if expected_wheel:
for wheel in wheels:
if wheel.name.startswith(expected_wheel):
wnames[i] = wheel.name
self.properties(WheelFLName=wnames[0],
WheelFRName=wnames[1],
WheelRLName=wnames[2],
WheelRRName=wnames[3],
CasterWheelName=wnames[4])
for wheel in wheels:
# Make a copy of the current transformation matrix
transformation = wheel.matrix_world.copy()
wheel.parent = None
wheel.matrix_world = transformation
def unparent_wheels(self):
""" Make the wheels orphans, but keep the transformation applied to
the parent robot """
# Force Blender to update the transformation matrices of objects
bpymorse.get_context_scene().update()
wheels = [child for child in self._bpy_object.children if "wheel" in child.name.lower()]
wnames = ["None"] * 5
keys = ["WheelFLName", "WheelFRName", "WheelRLName", "WheelRRName", "CasterWheelName"]
properties = bpymorse.get_properties(self._bpy_object)
for i in range(5):
key = keys[i]
expected_wheel = properties.get(key, None)
if expected_wheel:
for wheel in wheels:
if wheel.name.startswith(expected_wheel):
wnames[i] = wheel.name
self.properties(
WheelFLName=wnames[0],
WheelFRName=wnames[1],
WheelRLName=wnames[2],
WheelRRName=wnames[3],
CasterWheelName=wnames[4],
)
for wheel in wheels:
# Make a copy of the current transformation matrix
transformation = wheel.matrix_world.copy()
wheel.parent = None
wheel.matrix_world = transformation
def unparent_wheels(self):
""" Make the wheels orphans, but keep the transformation applied to
the parent robot """
# Force Blender to update the transformation matrices of objects
bpymorse.get_context_scene().update()
keys = ['WheelFLName', 'WheelFRName', 'WheelRLName',
'WheelRRName', 'CasterWheelName']
properties = bpymorse.get_properties(self._bpy_object)
for key in keys:
expected_wheel = properties.get(key, None)
if expected_wheel:
wheel = self.get_child(expected_wheel)
if wheel:
# Make a copy of the current transformation matrix
transformation = wheel.matrix_world.copy()
wheel.parent = None
wheel.matrix_world = transformation
else:
logger.error('Wheel %s is required but not found' % expected_wheel)
def unparent_wheels(self):
""" Make the wheels orphans, but keep the transformation applied to
the parent robot """
# Force Blender to update the transformation matrices of objects
bpymorse.get_context_scene().update()
keys = [
'WheelFLName', 'WheelFRName', 'WheelRLName', 'WheelRRName',
'CasterWheelName'
]
properties = bpymorse.get_properties(self._bpy_object)
for key in keys:
expected_wheel = properties.get(key, None)
if expected_wheel:
wheel = self.get_child(expected_wheel)
if wheel:
# Make a copy of the current transformation matrix
transformation = wheel.matrix_world.copy()
wheel.parent = None
wheel.matrix_world = transformation
else:
logger.error('Wheel %s is required but not found' %
expected_wheel)
