def merge(self, xml_other): # other is prioritary
self.Type = xml_other.attrib[
"type"] if "type" in xml_other.attrib else self.Type
self.Namespace = xml_other.attrib[
"ns"] if "ns" in xml_other.attrib else self.Namespace
self.Z = float(
xml_other.attrib["z"]) if "z" in xml_other.attrib else self.Z
if xml_other.find("scale") is not None:
LoadingHelpers.checkAttribExist(xml_other.find("scale"), "x", "y",
"z")
other_scale = [
float(xml_other.find("scale").get("x")),
float(xml_other.find("scale").get("y")),
float(xml_other.find("scale").get("z"))
]
self.Scale = other_scale
if xml_other.find("orientation") is not None:
LoadingHelpers.checkAttribExist(xml_other.find("orientation"), "x",
"y", "z")
other_ori = [
float(xml_other.find("orientation").get("x")),
float(xml_other.find("orientation").get("y")),
float(xml_other.find("orientation").get("z"))
]
self.Orientation = other_ori
self.MeshPath = xml_other.attrib[
"mesh_path"] if "mesh_path" in xml_other.attrib else self.MeshPath
def __init__(self, xml, obj_classes, check_valid=True):
LoadingHelpers.checkAttribExist(xml, "name")
self.Name = xml.get("name")
self.Position = Position2D(
xml.find("position")) if xml.find("position") is not None else None
self.Shape = Shape2D(
xml.find("shape")) if xml.find("shape") is not None else None
self.Tags = [l.text for l in xml.find("tags").findall("tag")
] if xml.find("tags") is not None else []
self.Color = Color(
xml.find("color")) if xml.find("color") is not None else None
if xml.get("class"): # merge info with class
other = copy.deepcopy(
[c for c in obj_classes if c.Name == xml.get("class")][0])
# self is prioritary
self.Position = self.Position if self.Position is not None else other.Position
self.Shape = self.Shape if self.Shape is not None else other.Shape
self.Color = self.Color if self.Color is not None else other.Color
self.Tags += other.Tags
self.Marker = copy.deepcopy(other.Marker)
if xml.find("marker") is not None:
self.Marker.merge(xml.find("marker"))
else:
self.Marker = Marker(
xml.find("marker")) if xml.find("marker") is not None else None
if check_valid is True:
self.check_valid(
) # disabled when manually creating a class through code
print self.Tags #TODO remove
def __init__(self, xml, validate=True):
self.Name = ""
self.Position = Position2D(None, validate=False)
if validate:
LoadingHelpers.checkAttribExist(xml, "name")
self.Name = xml.get("name")
self.Position = Position2D(xml, validate)
def __init__(self, initdict):
LoadingHelpers.checkKeysExist(initdict, "position", "marker")
super(Waypoint, self).__init__({
"position":
Position2D(initdict["position"]),
"marker":
MarkerRViz(initdict["marker"])
})
def __init__(self, xml, xml_classes):
LoadingHelpers.checkAttribExist(xml, "name")
self.Name = xml.get("name")
self.Elements = [
Container(c, xml_classes) for c in xml.findall("container")
]
self.Elements += [
Object(o, xml_classes) for o in xml.findall("object")
]
def __init__(self, xml, validate=True):
self.X = self.Y = self.A = 0.0
self.HasAngle = False
self.Frame = "map"
if validate:
LoadingHelpers.checkAttribExist(xml, "x", "y")
self.X = float(xml.get("x"))
self.Y = float(xml.get("y"))
self.A = float(xml.get("a")) if "a" in xml.attrib else 0.0
self.Frame = xml.get(
"frame_id") if "frame_id" in xml.attrib else "map"
self.HasAngle = "a" in xml.attrib
def __init__(self, initdict):
LoadingHelpers.checkKeysExist(initdict, "position", "shape", "marker",
"properties")
super(Zone, self).__init__({
"position":
Position2D(initdict["position"]),
"shape":
Shape2D(initdict["shape"]),
"marker":
MarkerRViz(initdict["marker"]),
"properties":
DictManager(initdict["properties"])
})
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, initdict):
LoadingHelpers.checkKeysExist(initdict, "shape", "marker", "walls")
# Instantiate the walls before creating the dict
for layer in initdict["walls"]:
for wall in initdict["walls"][layer]:
initdict["walls"][layer][wall] = Wall(
initdict["walls"][layer][wall])
initdict["walls"][layer] = DictManager(initdict["walls"][layer])
super(Terrain, self).__init__({
"shape": Shape2D(initdict["shape"]),
"marker": MarkerRViz(initdict["marker"]),
"walls": DictManager(initdict["walls"]),
})
def __init__(self, initdict):
LoadingHelpers.checkKeysExist(initdict, "position", "shape", "marker",
"chest", "trajectory")
super(Entity, self).__init__({
"position":
Position2D(initdict["position"]),
"shape":
Shape2D(initdict["shape"]),
"marker":
MarkerRViz(initdict["marker"]),
"chest":
None, # TODO Implement
"trajectory":
Trajectory(initdict["trajectory"])
})
def __init__(self, xml):
LoadingHelpers.checkAttribExist(xml, "name")
base = [c for c in map.MapManager.Colors if c.Name == xml.get("name")]
if base:
color = copy.deepcopy(base[0])
self.Name = color.Name
self.R = color.R
self.G = color.G
self.B = color.B
self.A = color.A
else: # create a new color
LoadingHelpers.checkAttribExist(xml, "name", "r", "g", "b")
self.Name = xml.get("name")
self.R = float(xml.get("r"))
self.G = float(xml.get("g"))
self.B = float(xml.get("b"))
self.A = float(xml.get("a"))
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, "type")
self.Type = xml.get("type")
LoadingHelpers.checkValueValid(self.Type, "rect", "circle", "point")
if self.Type == "rect":
LoadingHelpers.checkAttribExist(xml, "w", "h")
self.Width = float(xml.get("w"))
self.Height = float(xml.get("h"))
elif self.Type == "circle":
LoadingHelpers.checkAttribExist(xml, "r")
self.Radius = float(xml.get("r"))
else:
raise ValueError("ERROR: Shape type '{}' not supported.".format(
self.Type))
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"))
def __init__(self, initdict):
LoadingHelpers.checkKeysExist(initdict, "position", "shape")
super(Wall, self).__init__({
"position": Position2D(initdict["position"]),
"shape": Shape2D(initdict["shape"])
})
def __init__(self, initdict):
LoadingHelpers.checkKeysExist(initdict, "frame_id", "x", "y", "type")
super(Position2D, self).__init__(initdict)
def __init__(self, initdict):
LoadingHelpers.checkKeysExist(initdict, "ns", "id", "type", "scale",
"z", "orientation", "color")
# TODO let some arguments be optional (orientation not given -> 0, 0, 0)
super(MarkerRViz, self).__init__(initdict)
def __init__(self, initdict):
LoadingHelpers.checkKeysExist(initdict, "type")
# TODO : validate for each shape type
super(Shape2D, self).__init__(initdict)
def __init__(self, xml, obj_classes):
LoadingHelpers.checkAttribExist(xml, "name")
self.Name = xml.get("name")
super(Class, self).__init__(xml, obj_classes, check_valid=False)
def __init__(self, xml):
LoadingHelpers.checkAttribExist(xml, "name")
self.Name = xml.get("name")
self.Includes = [i.get("name") for i in xml.findall("include")]
self.Walls = [Wall(w) for w in xml.findall("wall")]