def wheel(cr, w=0.4, h=0.15):
with cairo_save(cr):
def shape():
roundedrec(cr, -w / 2.0, -h / 2.0, w, h, r=min(w, h) / 3.0)
cairo_plot_with_style(cr, shape, **CairoConstants.robot_wheel_style)
def cairo_robot_skin_brai(cr, w=1.3, h=0.8, sensors=False):
with cairo_save(cr):
x0 = -.3
wheel_h = 0.15
wheel_w = 0.4
M = h / 2 + .8 * wheel_h
def body():
roundedrec(cr, x0, -h / 2, w, h, r=min(w, h) / 8.0)
# cr.rectangle(x0, -h / 2, w, h)
cr.move_to(0, M)
cr.line_to(0, -M)
cairo_set_color(cr, BLACK)
cr.set_line_width(0.05)
cr.stroke()
cairo_plot_with_style(cr, body, **CairoConstants.robot_body_style)
for y in [-M, +M]:
with cairo_transform(cr, t=[0, y]):
wheel(cr, w=wheel_w, h=wheel_h)
if sensors:
for y in [.3 * h, -.3 * h]:
with cairo_transform(cr, t=[0, y]):
cr.set_line_width(CairoConstants.robot_border_width)
cairo_set_color(cr, CairoConstants.robot_border_color)
cr.move_to(0, 0)
cr.line_to(1.1, 0)
cr.stroke()
r = .1
with cairo_transform(cr, t=[1.1 + r, 0]):
cr.arc(0, 0, r, +np.pi / 2, -np.pi / 2)
cr.stroke()
def cairo_robot_skin_roundedrec(cr, w, h, r=None):
if r is None:
r = min(w, h) / 3.0
with cairo_save(cr):
def shape():
roundedrec(cr, -w / 2.0, -h / 2.0, w, h, r=r)
cairo_plot_with_style(cr, shape, **CairoConstants.robot_body_style)
