def OnBaseInertialParams(self, event):
model_symo, base_robo = self.robo.compute_baseparams()
out_file_path = self.prompt_file_save(model_symo)
self.model_success(out_file_path)
parfile.writepar(base_robo)
msg = ("A new robot with the Base Inertial Parameters was\n")
msg = msg + ("created and the corresponding PAR file is ")
msg = msg + ("saved at:\n\n")
msg = msg + base_robo.par_file_path
self.message_info(msg)
def test_readwrite(self):
parfile.writepar(self.orig_robo)
fname = filemgr.get_clean_name(self.orig_robo.name) + ".par"
file_path = os.path.join(self.orig_robo.directory, fname)
new_robo, flag = parfile.readpar(self.orig_robo.name, file_path)
self.assertEqual(flag, tools.OK)
l1 = self.orig_robo.get_geom_head()
l2 = self.orig_robo.get_dynam_head()
l3 = self.orig_robo.get_ext_dynam_head()
for name in l3[1:]+l2[1:]+l1[1:]:
for i in xrange(1, self.orig_robo.NL):
self.assertEqual(self.orig_robo.get_val(i, name),
new_robo.get_val(i, name))
def OnSaveAs(self, event):
dialog = wx.FileDialog(self,
message="Save PAR file",
defaultFile=self.robo.name + '.par',
defaultDir=self.robo.directory,
wildcard='*.par')
if dialog.ShowModal() == wx.ID_CANCEL:
return tools.FAIL
self.robo.directory = dialog.GetDirectory()
self.robo.name = dialog.GetFilename()[:-4]
parfile.writepar(self.robo)
self.widgets['name'].SetLabel(self.robo.name)
self.changed = False
def test_readwrite(self):
parfile.writepar(self.orig_robo)
fname = filemgr.get_clean_name(self.orig_robo.name) + ".par"
file_path = os.path.join(self.orig_robo.directory, fname)
new_robo, flag = parfile.readpar(self.orig_robo.name, file_path)
self.assertEqual(flag, tools.OK)
l1 = self.orig_robo.get_geom_head()
l2 = self.orig_robo.get_dynam_head()
l3 = self.orig_robo.get_ext_dynam_head()
for name in l3[1:]+l2[1:]+l1[1:]:
for i in xrange(1, self.orig_robo.NL):
self.assertEqual(self.orig_robo.get_val(i, name),
new_robo.get_val(i, name))
def OnSaveAs(self, event):
dialog = wx.FileDialog(
self, message="Save PAR file",
defaultFile=self.robo.name+'.par',
defaultDir=self.robo.directory,
wildcard='*.par'
)
if dialog.ShowModal() == wx.ID_CANCEL:
return tools.FAIL
self.robo.directory = dialog.GetDirectory()
self.robo.name = dialog.GetFilename()[:-4]
parfile.writepar(self.robo)
self.widgets['name'].SetLabel(self.robo.name)
self.changed = False
def OnSaveAs(self, event):
result_msg = "The PAR file has been saved at:\n"
# prompt dialog box for new robot name
txtdlg = wx.TextEntryDialog(
self,
caption="Save As New Robot",
message="Enter a name for the new robot:",
style=wx.OK | wx.CANCEL
)
if txtdlg.ShowModal() == wx.ID_OK and \
str(txtdlg.GetValue()).strip():
# when OK button and user input isn't an empty string
# save as new robot
self.robo.name = str(txtdlg.GetValue()).strip()
self.robo.set_directory()
self.robo.set_par_file_path()
parfile.writepar(self.robo)
self.widgets['name'].SetLabel(self.robo.name)
self.changed = False
result_msg = result_msg + self.robo.par_file_path
self.message_info(result_msg)
else:
# prompt message box
msg = "Do you want to save the PAR file with a new name?"
msgdlg = wx.MessageDialog(
self,
message=msg,
style=wx.YES_NO | wx.YES_DEFAULT
)
if msgdlg.ShowModal() == wx.ID_NO:
return tools.FAIL
else:
# prompt file dialog
filedlg = wx.FileDialog(
self,
message="Save PAR file",
style=wx.FD_SAVE | wx.FD_OVERWRITE_PROMPT,
defaultDir=self.robo.directory,
defaultFile=self.robo.par_file_name,
wildcard='*.par'
)
if filedlg.ShowModal() == wx.ID_CANCEL:
return tools.FAIL
self.robo.set_directory(filedlg.GetDirectory())
self.robo.set_par_file_path(filedlg.GetPath())
parfile.writepar(self.robo)
self.changed = False
result_msg = result_msg + self.robo.par_file_path
self.message_info(result_msg)
def OnSave(self, event):
parfile.writepar(self.robo)
self.changed = False
def OnSave(self, event):
parfile.writepar(self.robo)
self.changed = False
def Export(self, name):
NJ = len([i for i in self.elements if (isinstance(i, SuperRevoluteJoint) or isinstance(i, SuperPrismaticJoint)) and not i.virtual_joint] )
NL = len([i for i in self.elements if isinstance(i, Point) and not i.virtual_joint] )-1
NF = NL+2*(NJ-NL)
if not self.structure:
return
if not self.structure[0]-self.structure[1]:
structure = SIMPLE
elif not NJ-NL:
structure = TREE
else:
structure = CLOSED_LOOP
robot = Robot(name, NJ=NJ, NL=NL, NF=NF, is_mobile=False,
structure=structure)
robot.G = Matrix([var('G1'), var('G2'), var('G3')])
if self.structure[4][0]:
robot.Z = transpose(self.elements[self.structure[4][0]-1].T)
frames = []
end = []
cut = []
for branch in self.branches[self.structure[0]:self.structure[1]+1]:
frames += [i for i in branch[1:-2] if not isinstance(self.elements[i-1], Point)]
if not self.elements[branch[-2]-1].virtual_joint:
end.append(branch[-2])
else:
cut.append(branch[-2])
frames = [ i for i in frames if not i in end and not i in cut]
frames += end + cut
sigma, mu, theta, alpha, gamma, d, r, b, ant = [],[],[],[],[],[],[],[],[]
for frame in frames:
##
if isinstance(self.elements[frame-1], SuperPrismaticJoint):
sigma.append(1)
elif isinstance(self.elements[frame-1], SuperRevoluteJoint):
sigma.append(0)
else:
sigma.append(2)
i = [i for i in range(len(frames)) if frames[i] == self.elements[frame-1].ant]
if len(i)==0 and self.elements[frame-1].ant==self.structure[4][0]:
ant.append(0)
elif len(i)>0:
ant.append(i[0]+1)
else:
msg = wx.MessageDialog (None, 'Export error, cannot deifne the parameters.', style=wx.OK|wx.CENTRE)
msg.ShowModal()
return
if self.elements[frame-1].active and not self.elements[frame-1].cut_joint:
mu.append(1)
else:
mu.append(0)
if isinstance(self.elements[frame-1], SuperRevoluteJoint) and not self.elements[frame-1].virtual_joint:
theta.append(var('th%s' % (len(theta)+1)))
else:
theta.append(self.elements[frame-1].theta)
if isinstance(self.elements[frame-1], SuperPrismaticJoint) and not self.elements[frame-1].virtual_joint:
r.append(var('r%s' % (len(theta)+1)))
else:
r.append(self.elements[frame-1].r)
alpha.append(self.elements[frame-1].alpha)
d.append(self.elements[frame-1].d)
gamma.append(self.elements[frame-1].gamma)
b.append(self.elements[frame-1].b)
robot.sigma[1:] = sigma
robot.theta[1:] = theta
robot.alpha[1:] = alpha
robot.gamma[1:] = gamma
robot.d[1:] = d
robot.r[1:] = r
robot.b[1:] = b
robot.ant[1:] = ant
robot.mu[1:] = mu
parfile.writepar(robot)
