def __init__(self, xml):
LoadingHelpers.checkAttribExist(xml, "type", "ns", "z")
LoadingHelpers.checkChildExist(xml, "scale", "orientation")
self.Type = xml.get("type")
LoadingHelpers.checkValueValid(self.Type, "cube", "cylinder", "sphere",
"arrow", "mesh")
self.Namespace = xml.get("ns")
self.Z = float(xml.get("z"))
LoadingHelpers.checkAttribExist(xml.find("scale"), "x", "y", "z")
self.Scale = [
float(xml.find("scale").get("x")),
float(xml.find("scale").get("y")),
float(xml.find("scale").get("z"))
]
self.Orientation = [
float(xml.find("orientation").get("x")),
float(xml.find("orientation").get("z")),
float(xml.find("orientation").get("z"))
]
# Type-specific attributes
self.MeshPath = xml.find("mesh_path").text if xml.find(
"mesh_path") is not None else ""
def __init__(self, xml):
LoadingHelpers.checkAttribExist(xml, "type")
LoadingHelpers.checkChildExist(xml, "position", "marker", "color")
self.Name = "terrain"
self.Position = Position2D(xml.find("position"))
self.Shape = Shape2D(xml)
self.Marker = Marker(xml.find("marker"))
self.Color = Color(xml.find("color"))
self.Layers = [Layer(l) for l in xml.findall("layer")]
# Copy walls from other layers (includes)
for layer in self.Layers:
for include in layer.Includes:
for l in self.Layers:
if l.Name == include:
for w in l.Walls:
layer.Walls.append(copy.deepcopy(w))
def __init__(self, xml, obj_classes):
LoadingHelpers.checkChildExist(xml, "shape", "containers", "color")
self.Shape = Shape2D(xml.find("shape"))
xml.find("containers").attrib["name"] = "robot"
self.Container = Container(xml.find("containers"), obj_classes)
self.Color = Color(xml.find("color"))
#TODO temporary, considering robot as rect. real xml marker (e.g. for meshes) ?
m = ET.Element("marker")
m.attrib["ns"] = "robot"
m.attrib["type"] = "cube"
m.attrib["z"] = 0.35 / 2
scale = ET.SubElement(m, "scale")
scale.attrib["x"] = self.Shape.Height
scale.attrib["y"] = self.Shape.Width
scale.attrib["z"] = 0.35
orientation = ET.SubElement(m, "orientation")
orientation.attrib["x"] = 0.0
orientation.attrib["y"] = 0.0
orientation.attrib["z"] = 0.0
self.Marker = Marker(m)
def __init__(self, xml):
LoadingHelpers.checkAttribExist(xml, "name")
LoadingHelpers.checkChildExist(xml, "position", "shape")
self.Name = xml.get("name")
self.Position = Position2D(xml.find("position"))
self.Shape = Shape2D(xml.find("shape"))