def from_xml_node(cls, node):
type = node.get('name')
num_legs = int(node.get('num-legs'))
legs = []
leg_poses = []
home_state = []
for i in xrange(num_legs):
current_leg = node[i]
leg_frame = leg_library.get_leg(current_leg.get('name'))
leg_pose = pose(eval(current_leg.get('position')), eval(current_leg.get('orientation')))
leg_home_state = LegState(eval(current_leg.get('home', None)))
legs.append(leg_frame)
leg_poses.append(leg_pose)
home_state.append(leg_home_state)
return cls(type, legs, leg_poses, home_state)
def from_xml_node(cls, node):
type = node.get('name')
num_legs = int(node.get('num-legs'))
legs = []
leg_poses = []
home_state = []
for i in xrange(num_legs):
current_leg = node[i]
leg_frame = leg_library.get_leg(current_leg.get('name'))
leg_pose = pose(eval(current_leg.get('position')),
eval(current_leg.get('orientation')))
leg_home_state = LegState(eval(current_leg.get('home', None)))
legs.append(leg_frame)
leg_poses.append(leg_pose)
home_state.append(leg_home_state)
return cls(type, legs, leg_poses, home_state)
def get_random(cls, num_legs):
return cls([LegState.get_random(3) for i in xrange(num_legs)], pose((0, 0, 0), (0, 0, 0)))
def __init__(self, static_chassis):
self.chassis = static_chassis
self.chassis_pose = pose((0, 0, 0), (0, 0, 0))
def __init__(self, static_chassis):
self.chassis = static_chassis
self.chassis_pose = pose((0, 0, 0), (0, 0, 0))
def get_random(cls, num_legs):
return cls([LegState.get_random(3) for i in xrange(num_legs)],
pose((0, 0, 0), (0, 0, 0)))
