コード例 #1
0
ファイル: laserscanner.py プロジェクト: Djeef/morse
    def __init__(self, obj, parent=None):
        """
        Constructor method.

        Receives the reference to the Blender object.
        The second parameter should be the name of the object's parent.
        """
        logger.info('%s initialization' % obj.name)
        # Call the constructor of the parent class
        Sensor.__init__(self, obj, parent)

        arc_prefix = 'Arc_'

        # Look for a child arc to use for the scans
        for child in obj.children:
            if arc_prefix in child.name:
                self._ray_arc = child
                logger.info("Sick: Using arc object: '%s'" % self._ray_arc)
                break

        # Set its visibility, according to the settings
        self._ray_arc.setVisible(self.visible_arc)
        self._ray_list = []

        # Create an empty list to store the intersection points
        self.local_data['point_list'] = []
        self.local_data['range_list'] = []

        # Get the datablock of the arc, to extract its vertices
        ray_object = blenderapi.objectdata(self._ray_arc.name)
        for vertex in ray_object.data.vertices:
            logger.debug ("Vertex %d = %s" % (vertex.index, vertex.co))

            # Skip the first vertex.
            # It is the one located at the center of the sensor
            if vertex.index == 0:
                continue

            # Store the position of the vertex in a list
            # The position is already given as a mathutils.Vector
            self._ray_list.append(vertex.co)

            # Insert empty points into the data list
            self.local_data['point_list'].append([0.0, 0.0, 0.0])
            # Insert zeros into the range list
            self.local_data['range_list'].append(0.0)

            logger.debug("RAY %d = [%.4f, %.4f, %.4f]" %
                         (vertex.index, self._ray_list[vertex.index-1][0],
                                        self._ray_list[vertex.index-1][1],
                                        self._ray_list[vertex.index-1][2]))

        # Get some information to be able to deform the arcs
        if self.visible_arc:
            self._layers = 1
            if 'layers' in self.bge_object:
                self._layers = self.bge_object['layers']
            self._vertex_per_layer = len(self._ray_list) // self._layers

        logger.info('Component initialized, runs at %.2f Hz', self.frequency)
コード例 #2
0
    def __init__(self, obj, parent=None):
        """
        Constructor method.

        Receives the reference to the Blender object.
        The second parameter should be the name of the object's parent.
        """
        logger.info('%s initialization' % obj.name)
        # Call the constructor of the parent class
        Sensor.__init__(self, obj, parent)

        arc_prefix = 'Arc_'

        # Look for a child arc to use for the scans
        for child in obj.children:
            if arc_prefix in child.name:
                self._ray_arc = child
                logger.info("Sick: Using arc object: '%s'" % self._ray_arc)
                break

        # Set its visibility, according to the settings
        self._ray_arc.setVisible(self.visible_arc)
        self._ray_list = []

        # Create an empty list to store the intersection points
        self.local_data['point_list'] = []
        self.local_data['range_list'] = []

        # Get the datablock of the arc, to extract its vertices
        ray_object = blenderapi.objectdata(self._ray_arc.name)
        for vertex in ray_object.data.vertices:
            logger.debug("Vertex %d = %s" % (vertex.index, vertex.co))

            # Skip the first vertex.
            # It is the one located at the center of the sensor
            if vertex.index == 0:
                continue

            # Store the position of the vertex in a list
            # The position is already given as a mathutils.Vector
            self._ray_list.append(vertex.co)

            # Insert empty points into the data list
            self.local_data['point_list'].append([0.0, 0.0, 0.0])
            # Insert zeros into the range list
            self.local_data['range_list'].append(0.0)

            logger.debug("RAY %d = [%.4f, %.4f, %.4f]" %
                         (vertex.index, self._ray_list[vertex.index - 1][0],
                          self._ray_list[vertex.index - 1][1],
                          self._ray_list[vertex.index - 1][2]))

        # Get some information to be able to deform the arcs
        if self.visible_arc:
            self._layers = 1
            if 'layers' in self.bge_object:
                self._layers = self.bge_object['layers']
            self._vertex_per_layer = len(self._ray_list) // self._layers

        logger.info('Component initialized, runs at %.2f Hz', self.frequency)
コード例 #3
0
ファイル: airspeed.py プロジェクト: adegroote/morse
    def __init__(self, obj, parent=None):
        """ Constructor method.
        """
        logger.info('%s initialization' % obj.name)
        # Call the constructor of the parent class
        Sensor.__init__(self, obj, parent)

        has_physics = bool(self.robot_parent.bge_object.getPhysicsId())
        if self._type == 'Automatic':
            if has_physics: 
                self._type = 'Velocity'
            else:
                self._type = 'Position'

        if self._type == 'Velocity' and not has_physics:
            logger.error("Invalid configuration : Velocity computation without "
                        "physics")
            return

        if self._type == 'Velocity':
            self.robot_vel_body = self.robot_parent.bge_object.localLinearVelocity
            self.airspeed2body = self.sensor_to_robot_position_3d()
            # rotate vector from body to airspeed frame
            self.rot_b2a = self.airspeed2body.rotation.conjugated()
        else:
            self.pp = copy(self.position_3d)

        logger.info('Component initialized, runs at %.2f Hz', self.frequency)
コード例 #4
0
    def __init__(self, obj, parent=None):
        """ Constructor method.
        """
        logger.info('%s initialization' % obj.name)
        # Call the constructor of the parent class
        Sensor.__init__(self, obj, parent)

        has_physics = bool(self.robot_parent.bge_object.getPhysicsId())
        if self._type == 'Automatic':
            if has_physics:
                self._type = 'Velocity'
            else:
                self._type = 'Position'

        if self._type == 'Velocity' and not has_physics:
            logger.error(
                "Invalid configuration : Velocity computation without "
                "physics")
            return

        if self._type == 'Velocity':
            self.robot_vel_body = self.robot_parent.bge_object.localLinearVelocity
            self.airspeed2body = self.sensor_to_robot_position_3d()
            # rotate vector from body to airspeed frame
            self.rot_b2a = self.airspeed2body.rotation.conjugated()
        else:
            self.pp = copy(self.position_3d)

        logger.info('Component initialized, runs at %.2f Hz', self.frequency)
コード例 #5
0
    def __init__(self, obj, parent=None):
        """ Constructor method.
        """
        logger.info('%s initialization' % obj.name)
        # Call the constructor of the parent class
        Sensor.__init__(self, obj, parent)

        logger.info('Component initialized, runs at %.2f Hz', self.frequency)
コード例 #6
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    def __init__(self, obj, parent=None):
        logger.info("%s initialization", obj.name)
        Sensor.__init__(self, obj, parent)

        self.source_list = self.get_source_list()
        self.surrounding_material = MaterialCatalogue.instance().\
            get_material_by_name(self.surrounding_material_name)
        logger.info("Component initialized")
コード例 #7
0
    def __init__(self, obj, parent=None):
        """ Constructor method.

        Receives the reference to the Blender object.
        The second parameter should be the name of the object's parent.
        """
        logger.info('%s initialization' % obj.name)
        # Call the constructor of the parent class
        Sensor.__init__(self, obj, parent)

        logger.info('Component initialized, runs at %.2f Hz', self.frequency)
コード例 #8
0
ファイル: collision.py プロジェクト: zyh1994/morse
    def __init__(self, obj, parent=None):
        """ Constructor method.

        Receives the reference to the Blender object.
        The second parameter should be the name of the object's parent.
        """
        logger.info('%s initialization' % obj.name)
        # Call the constructor of the parent class
        Sensor.__init__(self, obj, parent)

        logger.info('Component initialized, runs at %.2f Hz', self.frequency)
コード例 #9
0
ファイル: barometer.py プロジェクト: HorvathJo/morse
    def __init__(self, obj, parent=None):
        """ Constructor method.
        """
        logger.info('%s initialization' % obj.name)
        # Call the constructor of the parent class
        Sensor.__init__(self, obj, parent)

        self._inv_exp = (- blenderapi.gravity()[2] * MOLAR_MASS) / \
                        (GAS_CONSTANT * TEMPERATURE_LAPSE_RATE)
        self._ref_z = self.position_3d.z

        logger.info('Component initialized, runs at %.2f Hz', self.frequency)
コード例 #10
0
    def __init__(self, obj, parent=None):
        """ Constructor method.
        """
        logger.info('%s initialization' % obj.name)
        # Call the constructor of the parent class
        Sensor.__init__(self, obj, parent)

        self._inv_exp = (- blenderapi.gravity()[2] * MOLAR_MASS) / \
                        (GAS_CONSTANT * TEMPERATURE_LAPSE_RATE)
        self._ref_z = self.position_3d.z

        logger.info('Component initialized, runs at %.2f Hz', self.frequency)
コード例 #11
0
ファイル: kinect.py プロジェクト: Greg8978/morse_MaRDi
    def __init__(self, obj, parent=None):
        """ Constructor method.

        Receives the reference to the Blender object.
        The second parameter should be the name of the object's parent.
        """
        logger.info("%s initialization" % obj.name)
        # Call the constructor of the parent class
        Sensor.__init__(self, obj, parent)

        self.video_camera_name = self.name() + ".rgb"
        self.depth_camera_name = self.name() + ".depth"
        # or [child.name for child in obj.children \
        #     if child.name.startswith(self.name()+'.rgb')].pop()
        self.video_camera = None
        self.depth_camera = None
        logger.info("Component initialized, runs at %.2f Hz", self.frequency)
コード例 #12
0
ファイル: kinect.py プロジェクト: imclab/morse
    def __init__(self, obj, parent=None):
        """ Constructor method.

        Receives the reference to the Blender object.
        The second parameter should be the name of the object's parent.
        """
        logger.info('%s initialization' % obj.name)
        # Call the constructor of the parent class
        Sensor.__init__(self, obj, parent)

        self.video_camera_name = self.name() + '.rgb'
        self.depth_camera_name = self.name() + '.depth'
        # or [child.name for child in obj.children \
        #     if child.name.startswith(self.name()+'.rgb')].pop()
        self.video_camera = None
        self.depth_camera = None
        logger.info('Component initialized, runs at %.2f Hz', self.frequency)