def __init__(self,
parent,
name="ActuatedArm",
translation=[0.0, 0.0, 0.0],
eulerRotation=[0.0, 0.0, 0.0],
attachingTo=None):
self.node = parent.createChild(name)
r = Transform(translation, eulerRotation=eulerRotation)
self.node.createObject("MechanicalObject",
name="dofs",
size=1,
position=r.toSofaRepr(),
template='Rigid3',
showObject=True,
showObjectScale=15)
servomotor = ServoMotor(self.node)
servomotor.createObject("RigidRigidMapping", name="mapping")
ServoArm(self.node, servomotor.ServoWheel.dofs)
if attachingTo is not None:
constraint = self.addConstraint(
attachingTo.dofs.getData("rest_position"), translation,
eulerRotation)
attachingTo.createObject(
'RestShapeSpringsForceField',
points=constraint.BoxROI.getData("indices"),
external_rest_shape=constraint.dofs,
stiffness='1e12')
def init(self):
self.servomotor = self.addChild(
ServoMotor(name="ServoMotor",
translation=self.translation.value,
rotation=self.rotation.value))
self.servoarm = self.addChild(
ServoArm(name="ServoArm")
) #,mappingInputLink=self.ServoMotor.ServoWheel.dofs.getLinkPath()))
self.servoarm.setRigidMapping(
self.ServoMotor.ServoWheel.dofs.getLinkPath())
## add a public attribute and connect it to the private one.
self.addData(name='angleIn',
group='ArmProperties',
help='angle of rotation (in radians) of the arm',
type='float',
value=0)
self.ServoMotor.getData('angleIn').setParent(self.getData('angleIn'))
## add a public attribute and connect it to the internal one.
self.addData(name='angleOut',
group='ArmProperties',
help='angle of rotation (in radians) of the arm',
type='float',
value=0)
self.getData('angleOut').setParent(self.ServoMotor.getData('angleOut'))
if self.attachingToLink:
attachingTo = getFromRoot(self, self.attachingToLink)
constraint = self.addConstraint(attachingTo,
self.translation.value,
self.rotation.value)
self.attachingTo.addObject(
'RestShapeSpringsForceField',
name='rssff' + self.name,
points=constraint.BoxROI.getData('indices'),
external_rest_shape=constraint.dofs,
stiffness='1e12')
def __init__(self, parent, name="ActuatedArm",
translation=[0.0, 0.0, 0.0], eulerRotation=[0.0, 0.0, 0.0], attachingTo=None):
self.node = parent.createChild(name)
self.servomotor = ServoMotor(self.node, translation=translation, rotation=eulerRotation)
self.servoarm = ServoArm(self.node, self.servomotor.ServoWheel.dofs)
## Create a public attribute and connect it to the private one.
self.node.addNewData("angleIn", "ArmProperties", "angle of rotation (in radians) of the arm", "float", 0)
self.node.ServoMotor.getData("angleIn").setParent(self.node.getData("angleIn"))
## Create a public attribute and connect it to the internal one.
self.node.addNewData("angleOut", "ArmProperties", "angle of rotation (in radians) of the arm", "float", 0)
self.node.getData("angleOut").setParent(self.node.ServoMotor.getData("angleOut"))
if attachingTo is not None:
constraint = self.addConstraint(attachingTo, translation, eulerRotation)
attachingTo.createObject('RestShapeSpringsForceField', name="rssff"+name,
points=constraint.BoxROI.getData("indices"),
external_rest_shape=constraint.dofs,
stiffness='1e12')
def __init__(self,
parent,
name="ActuatedArm",
translation=[0.0, 0.0, 0.0],
eulerRotation=[0.0, 0.0, 0.0],
attachingTo=None):
self.node = parent.addChild(name)
self.servomotor = ServoMotor(self.node,
translation=translation,
rotation=eulerRotation)
ServoArm(self.node, self.servomotor.ServoWheel.dofs)
if attachingTo is not None:
constraint = self.addConstraint(
attachingTo.dofs.getData("rest_position"), translation,
eulerRotation)
attachingTo.addObject('RestShapeSpringsForceField',
name="rssff" + name,
points=constraint.BoxROI.getData("indices"),
external_rest_shape=constraint.dofs,
stiffness='1e12')