def moveDisplay(self):
tau = 1.0 if self.duration<=0 else float(self.t) / self.duration
xyz = tau * array(self.ball) + (1-tau) * array(self.prec)
robot.device.viewer.updateElementConfig('zmp',vectorToTuple(xyz)+(0,0,0))
self.t += 1
if self.t>self.duration and self.duration>0:
attime.stop(self.f)
self.xyz= xyz
def moveDisplay(self):
tau = 1.0 if self.duration <= 0 else float(self.t) / self.duration
xyz = tau * array(self.ball) + (1 - tau) * array(self.prec)
robot.viewer.updateElementConfig('zmp', vectorToTuple(xyz) + (0, 0, 0))
self.t += 1
if self.t > self.duration and self.duration > 0:
attime.stop(self.f)
self.xyz = xyz