def __init__(self, robot_model, physics_client):
"""
Constructor
Parameters:
robot_model - The pybullet model of the robot
physics_client - The if of the simulated instance in which the
robot is spawned
frequency - If specified, the acquisition frequency of the sensor,
in Hz
"""
RobotModule.__init__(self, robot_model, physics_client)
self.frequency = None
def _clearInstance(self, physics_client):
"""
INTERNAL METHOD, Called to kill the processes of modules running in a
simulated instance, before resetting or stopping it.
Parameters:
physics_client - The client id of the simulated instance that will
be cleared
"""
Camera.ACTIVE_CAMERA_ID[physics_client] = -1
for module in RobotModule._getInstances():
if module.getPhysicsClientId() == physics_client:
module._terminateModule()
def _clearInstance(self, physics_client):
"""
INTERNAL METHOD, Called to kill the processes of modules running in a
simulated instance, before resetting or stopping it.
Parameters:
physics_client - The client id of the simulated instance that will
be cleared
"""
for module in RobotModule._getInstances():
if module.getPhysicsClientId() == physics_client:
module._terminateModule()
for camera in Camera._getCameraHandlesDict().values():
if physics_client == camera.getPhysicsClientId():
camera.unsubscribe()