def _generateRBC(self): self.obstacles, self.obstacleCenter = [], [] for i in range(self.config_RBC['numObstacles']): name = 'obs' + str(i) self.obstacles.append( RBCObstacle(np.array(self.config_RBC[name]['center']), self.config_RBC[name]['scale'], np.array(self.config_RBC[name]['orient']))) self.obstacleCenter.append(self.obstacles[i].center)
def obstacleConstructorCallBack(configName = 'config_RBC.json'): with open(configName, 'r') as f: config = json.load(f) obstacles, obstacleCenter = [], [] for i in range(config['numObstacles']): name = 'obs' + str(i) obstacles.append(RBCObstacle(np.array(config[name]['center']), config[name]['scale'], np.array(config[name]['orient']))) obstacleCenter.append(obstacles[i].center) return obstacles, obstacleCenter