def setUpClass(cls):
# simple rooms setup, all rooms are 5x5x3m
# 5 ------- ---------
# | kitchen | bedroom |
# 0---------5---------10
box1 = BoxVolume(kdl.Vector(0, 0, 0), kdl.Vector(5, 5, 3))
box2 = BoxVolume(kdl.Vector(0, 0, 0), kdl.Vector(1, 1, 0.5))
cls.robot = Mockbot()
cls._kitchen = Entity(
"kitchen", "room", "/map",
kdl.Frame(kdl.Rotation.RPY(0, 0, 0), kdl.Vector(0, 0, 0)), None,
{"in": box1}, ["room"], 0)
cls._bedroom = Entity(
"bedroom", "room", "/map",
kdl.Frame(kdl.Rotation.RPY(0, 0, 0), kdl.Vector(5, 0, 0)), None,
{"in": box1}, ["room"], 0)
cls._cabinet = Entity(
"cabinet", "furniture", "/map",
kdl.Frame(kdl.Rotation.RPY(0, 0, 0), kdl.Vector(4, 4, 0)), None,
{"on_top_off": box2}, ["furniture"], 0)
cls._bookcase = Entity(
"bookcase", "furniture", "/map",
kdl.Frame(kdl.Rotation.RPY(0, 0, 0), kdl.Vector(8, 1, 0)), None,
{"on_top_off": box2}, ["furniture"], 0)
cls.robot.ed._static_entities = {
e.id: e
for e in [cls._kitchen, cls._bedroom, cls._cabinet, cls._bookcase]
}
cls.tour_guide = TourGuide(cls.robot)
def setUp(self):
# simple rooms setup, all rooms are 1x1x3m
# 1 ------- ----------- -------
# | kitchen | living_room | hallway |
# 0---------2-------------3---------4
box1 = BoxVolume(kdl.Vector(0, 0, 0),
kdl.Vector(1, 1, 3))
entity1 = Entity("kitchen", "room", "/map",
kdl.Frame(kdl.Rotation.RPY(0, 0, 0),
kdl.Vector(0, 0, 0)),
None, {"in": box1}, None, 0)
entity2 = Entity("living_room", "room", "/map",
kdl.Frame(kdl.Rotation.RPY(0, 0, 0),
kdl.Vector(1, 0, 0)),
None, {"in": box1}, None, 0)
entity3 = Entity("hallway", "room", "/map",
kdl.Frame(kdl.Rotation.RPY(0, 0, 0),
kdl.Vector(2, 0, 0)),
None, {"in": box1}, None, 0)
self.room_entities = [entity1, entity2, entity3]
def setUp(self):
box = BoxVolume(kdl.Vector(0, 0, 0), kdl.Vector(1, 1, 1))
self.entity = Entity(
"12345", "dummy", "/map",
kdl.Frame(kdl.Rotation.RPY(1, 0, 0), kdl.Vector(3, 3, 3)), None,
{"dummy_volume": box}, None, 0)
self.area = "dummy_volume"
def resolve(self):
return Entity(
identifier="foo",
object_type=None,
frame_id="/map",
pose=kdl.Frame(),
shape=None,
volumes={
"on_top_of":
BoxVolume(
kdl.Vector(-1.0, -1.0, -1.0),
kdl.Vector(1.0, 1.0, 1.0),
)
},
super_types=[],
last_update_time=None,
)