def set_emotion_e(self, e=0 + 0j, anim_time=-1):
"""
Set an emotion with complex number e, within a certain time.
"""
# Print data to log
# print_info("Emotion; e: " + str(e) + ", time: " + str(anim_time))
# Make sure emotion is restricted to within unity circle.
if abs(e) > 1.0:
e = cmath.rect(1.0, cmath.phase(e))
self._emotion = e
phi = cmath.phase(self._emotion)
r = abs(self._emotion)
Robot.apply_poly(r, phi, anim_time)
def set_emotion_r_phi(self, r, phi, degrees=False, anim_time=-1):
"""
Set an emotion with r and phi, within a certain time.
"""
# Print data to log
# print_info("Set Emotion; r: " + str(r) + ", phi: " + str(phi) +
# ", deg: " + str(degrees) + ", time: " + str(anim_time))
e = 0 + 0j
# Emotion from r and phi
if r is None or phi is None:
raise RuntimeError(
"Bad combination of parameters; r and phi need to be provided."
)
if degrees:
phi = phi * math.pi / 180.0
phi = constrain(phi, 0.0, 2 * math.pi)
r = constrain(r, 0.0, 1.0)
Robot.apply_poly(r, phi, anim_time)
def set_emotion_index(self, index, anim_time=-1):
"""
Set an emotion with index in defined expression list, within a certain time.
"""
e = 0 + 0j
# Emotion from list
if index is None:
raise RuntimeError(
"Bad combination of parameters; index needs to be provided.")
index = constrain(index, 0, len(self.expressions) - 1)
exp = self.expressions[index]
if 'poly' in exp:
# 20 values in poly, (poly * 2*pi/20)
phi = constrain(exp['poly'] * math.pi / 10, 0.0, 2 * math.pi)
Robot.apply_poly(1.0, phi, anim_time)
if 'dofs' in exp:
# send dofs directly to the robot
Robot.set_dof_list(exp['dofs'], anim_time)