def __init__(self, stance, method, color='g'): if color is None: color = (0., 0.5, 0., 0.5) if type(color) is str: color = matplotlib_to_rgb(color) + [0.5] super(SupportPolygonDrawer, self).__init__() self.color = color self.contact_poses = {} self.handle = None self.method = method self.stance = stance self.z = z_polygon # self.update_contact_poses() self.update_polygon()
def __init__(self, stance, scale=0.1, color=None): super(AccelConeDrawer, self).__init__() self.scale = scale # done before calling parent constructor if color is None: color = (0., 0.5, 0., 0.5) if type(color) is str: color = matplotlib_to_rgb(color) + [0.5] self.color = color self.contact_poses = {} self.handle = None self.last_com = stance.com.p self.stance = stance # self.update_contact_poses() self.update_cone()
def __init__(self, stance, height=0., color=None): self.stance = stance # before calling parent constructor if color is None: color = (0., 0.5, 0., 0.5) if type(color) is str: color = matplotlib_to_rgb(color) + [0.5] super(SupportAreaDrawer, self).__init__() self.color = color self.contact_poses = {} self.handle = None self.height = height self.last_com = stance.com.p self.stance = stance # self.update_contact_poses() self.update_polygon()
def __init__(self, stance, z=0., color=None, method='qhull'): if color is None: color = (0., 0.5, 0., 0.5) if type(color) is str: color = matplotlib_to_rgb(color) + [0.5] super(SupportPolyhedronDrawer, self).__init__() self.color = color self.contact_poses = {} self.handle = None self.max_iter = 50 self.method = method self.nr_iter = 0 self.polyhedron = None self.stance = stance self.z = z # self.update_contacts() self.create_polyhedron(self.stance.contacts)