def __init__(self, stance, method, color='g'):
if color is None:
color = (0., 0.5, 0., 0.5)
if type(color) is str:
color = matplotlib_to_rgb(color) + [0.5]
super(SupportPolygonDrawer, self).__init__()
self.color = color
self.contact_poses = {}
self.handle = None
self.method = method
self.stance = stance
self.z = z_polygon
#
self.update_contact_poses()
self.update_polygon()
def __init__(self, stance, scale=0.1, color=None):
super(AccelConeDrawer, self).__init__()
self.scale = scale # done before calling parent constructor
if color is None:
color = (0., 0.5, 0., 0.5)
if type(color) is str:
color = matplotlib_to_rgb(color) + [0.5]
self.color = color
self.contact_poses = {}
self.handle = None
self.last_com = stance.com.p
self.stance = stance
#
self.update_contact_poses()
self.update_cone()
def __init__(self, stance, height=0., color=None):
self.stance = stance # before calling parent constructor
if color is None:
color = (0., 0.5, 0., 0.5)
if type(color) is str:
color = matplotlib_to_rgb(color) + [0.5]
super(SupportAreaDrawer, self).__init__()
self.color = color
self.contact_poses = {}
self.handle = None
self.height = height
self.last_com = stance.com.p
self.stance = stance
#
self.update_contact_poses()
self.update_polygon()
def __init__(self, stance, z=0., color=None, method='qhull'):
if color is None:
color = (0., 0.5, 0., 0.5)
if type(color) is str:
color = matplotlib_to_rgb(color) + [0.5]
super(SupportPolyhedronDrawer, self).__init__()
self.color = color
self.contact_poses = {}
self.handle = None
self.max_iter = 50
self.method = method
self.nr_iter = 0
self.polyhedron = None
self.stance = stance
self.z = z
#
self.update_contacts()
self.create_polyhedron(self.stance.contacts)