def update_polygon(self):
self.handle = None
try:
vertices = self.stance.compute_zmp_support_area([0, 0, self.z])
self.handle = draw_polygon(
[(x[0], x[1], self.z) for x in vertices],
normal=[0, 0, 1], color=(0.0, 0.0, 0.5, 0.5))
except Exception as e:
print("SupportAreaDrawer: {}".format(e))
def __init__(self, contact, stiffness=2000.):
super(SoftContact, self).__init__()
x, y, z = contact.x, contact.y, contact.z
polygon = [(x + 0.5, y, z - 0.5), (x + 0.5, y, z + 0.5),
(x - 0.5, y, z + 0.5), (x - 0.5, y, z - 0.5)]
self.contact = contact
self.handle = draw_polygon(polygon, [0, 1, 0], color='k')
self.init_y = y + 0.01
self.stiffness = stiffness
def update_polygon(self):
self.handle = None
try:
vertices = self.stance.compute_static_equilibrium_polygon(
method=self.method)
self.handle = draw_polygon(
[(x[0], x[1], self.z) for x in vertices],
normal=[0, 0, 1], color=self.color)
except Exception as e:
print("SupportPolygonDrawer: {}".format(e))
def update_handle(self):
self.handle = None
try:
self.vertices = self.stance.compute_static_equilibrium_polygon(
method=self.method)
self.handle = draw_polygon([(x[0], x[1], self.height)
for x in self.vertices],
normal=[0, 0, 1],
color='g')
except Exception as e:
print("CoMPolygonDrawer: {}".format(e))
def update_polygon(self):
self.handle = None
try:
vertices = compute_local_actuation_dependent_polygon(
self.robot, self.stance)
self.handle = draw_polygon([(x[0], x[1], self.height)
for x in vertices],
normal=[0, 0, 1],
color='m')
except Exception as e:
print("ActuationDependentPolygonDrawer: {}".format(e))
