def __init__(self,
name="MotionPath",
curve=None,
begintime=0.0,
endtime=1.0,
loop=False,
follow=False,
bank=False,
bankamplitude=0.1,
auto_insert=True):
"""Constructor.
"""
Component.__init__(self, name=name, auto_insert=auto_insert)
self.curve = curve
self.begintime = begintime
self.endtime = endtime
self.loop = loop
self.follow = follow
self.bank = bank
self.bankamplitude = bankamplitude
self.transform_slot = ProceduralMat4Slot(self.computeTransform)
self.time_slot = DoubleSlot()
self.time_slot.addDependent(self.transform_slot)
self.addSlot("transform", self.transform_slot)
self.addSlot("time", self.time_slot)
def __init__(self,
name = "MotionPath",
curve = None,
begintime = 0.0,
endtime = 1.0,
loop = False,
follow = False,
bank = False,
bankamplitude = 0.1,
auto_insert = True):
"""Constructor.
"""
Component.__init__(self, name=name, auto_insert=auto_insert)
self.curve = curve
self.begintime = begintime
self.endtime = endtime
self.loop = loop
self.follow = follow
self.bank = bank
self.bankamplitude = bankamplitude
self.transform_slot = ProceduralMat4Slot(self.computeTransform)
self.time_slot = DoubleSlot()
self.time_slot.addDependent(self.transform_slot)
self.addSlot("transform", self.transform_slot)
self.addSlot("time", self.time_slot)
def __init__(self,
name="Sensor",
receiver=None,
emitter=None,
relative_pos=vec3()):
Component.__init__(self, name)
self.receiver = receiver
self.emitter = emitter
self.type = None
self.relative_pos = relative_pos
self.pos_slot = ProceduralVec3Slot(self._computeSensorPos)
self.addSlot("pos", self.pos_slot)
def __init__(self,
world,
name = "Motor",
block = None,
link = None,
angle = 0.0,
cfg = None,
**params):
Component.__init__(self, name)
# define motor slots
self.initialize_slots = True
self.status_slot = StrSlot(IDLE)
self.angle_slot = DoubleSlot(angle)
self.pos_slot = Vec3Slot()
self._lastAngle = angle
self.addSlot("status", self.status_slot)
self.addSlot("angle", self.angle_slot)
self.addSlot("pos", self.pos_slot)
self._angle_forwader = NotificationForwarder(self._onAngleChanged)
self.angle_slot.addDependent(self._angle_forwader)
self.initialize_slots = False
self.world = world
self.cfg = cfg
self.block = block
self.link = link
self._remainingTime = self.cfg['timeout']
self._createComponents()
self._configureComponents()
self._connectComponents()
# add joint to world
self.world.add(self._joint)
# listen to events
eventManager().connect(STEP_FRAME, self._onStepFrame)
def __init__(self,
world,
name="Robot",
cfg = None,
data = None):
Component.__init__(self, name)
self.world = world
self.modules = []
self.cfg = cfg
self.brain = None
self.interactive = True
self._preState = None
self._action = None
self._actionDone = True
self._steps = 0
self._initialPos = 0
self._totalWalked = 0
self._timer = getScene().timer()
self._beforeExecution = self._timer.time
eventManager().connect(STEP_FRAME, self._onStepFrame)
def __init__(self,
world,
name = "Module",
pos = vec3(),
rot = mat3(),
robot = None,
cfg = None,
data = None):
Component.__init__(self, name=name)
self.world = world
self.pos = pos
self.rot = rot
self.robot = robot
self.cfg = cfg
self.data = data
self.sensor = {}
self._createBlocks()
self._createLink()
self._connectObjects()
self._positionObjects()
self._configureSensors()
