class HexapodBody(object):
def __init__(self, parent_ref, config):
irot, itrans = config.getInitialPose()
self.ref = ReferenceFrame(Vector3(itrans),
Quaternion.from_eulers(irot), parent_ref)
self.legs = []
def getLegSegments(self, config, lobj):
legargs = config.getLegSegmentConfig(lobj.getId())
segs = []
prevSeg = lobj
for args in legargs:
prevSeg = HexapodLegSegment(prevSeg, *args)
segs.append(prevSeg)
return segs
# Returns -1 if left side, 1 otherwise.
def getLegDirection(self, leg):
if "left" in leg.getId():
return -1
else:
return 1
def setRotation(self, rot):
self.ref.setRotation(rot)
def setTranslation(self, trans):
self.ref.setTranslation(trans)
class HexapodBody(object):
def __init__(self, parent_ref, config):
irot, itrans = config.getInitialPose();
self.ref = ReferenceFrame(Vector3(itrans), Quaternion.from_eulers(irot), parent_ref);
self.legs = [];
def getLegSegments(self, config, lobj):
legargs = config.getLegSegmentConfig(lobj.getId())
segs = [];
prevSeg = lobj;
for args in legargs:
prevSeg = HexapodLegSegment(prevSeg, *args);
segs.append(prevSeg);
return segs;
# Returns -1 if left side, 1 otherwise.
def getLegDirection(self, leg):
if "left" in leg.getId():
return -1;
else:
return 1;
def setRotation(self, rot):
self.ref.setRotation(rot);
def setTranslation(self, trans):
self.ref.setTranslation(trans);
