def __init__(self,
robot_model,
link,
hfov,
vfov,
physicsClientId=0,
near_plane=0.01,
far_plane=100):
"""
Constructor
Parameters:
robot_model - The pybullet model of the robot
link - The link (Link type) onto which the camera's attached
hfov - The value of the horizontal field of view angle (in degrees)
vfov - The value of the vertical field of view angle (in degrees)
physicsClientId - The id of the simulated instance in which the
camera is to be spawned
near_plane - The near plane distance
far_plane - The far plane distance
"""
Sensor.__init__(self, robot_model, physicsClientId)
self.link = link
self.near_plane = near_plane
self.far_plane = far_plane
self.frame = None
self.projection_matrix = None
self.resolution = None
self.hfov = None
self.vfov = None
self.resolution_lock = threading.Lock()
self._setFov(hfov, vfov)
if self.physics_client not in Camera.ACTIVE_CAMERA_ID.keys():
Camera.ACTIVE_CAMERA_ID[self.physics_client] = -1
def __init__(self,
robot_model,
laser_id,
frequency=DEFAULT_FREQUENCY,
display=False,
physicsClientId=0):
"""
Constructor
Parameters:
robot_model - The pybullet model of the robot.
laser_id - The id of the link (Link type)
onto which the Lasers' are attached.
frequency - The update frequency of the laser in Hz (default
frequency set to 6.25 Hz)
display - boolean that allow the display of the laser
physicsClientId - The id of the simulated instance in which the
lasers are to be spawned
"""
Sensor.__init__(self, robot_model, physicsClientId)
self.ray_from = []
self.ray_to = []
self.ray_ids = []
self.laser_value = [0] * NUM_RAY * NUM_LASER
self.laser_id = laser_id
self.display = display
self.values_lock = threading.Lock()
self.setFrequency(frequency)
def __init__(self, robot_model, fsr_link, physicsClientId=0):
"""
Constructor
Parameters:
robot_model - The pybullet model of the robot
fsr_link - The Link object corresponding to the link the FSR is
attached to
physicsClientId - The id of the simulated instance in the
corresponding robot exists
"""
Sensor.__init__(
self,
robot_model,
physicsClientId)
self.fsr_link = fsr_link
def __init__(self, robot_model, imu_link, frequency, physicsClientId=0):
"""
Constructor. If the specified frequency is not a strictly positive int
or float, the constructor will raise a pybullet error
Parameters:
robot_model - The pybullet model of the robot
imu_link - The Link object corresponding to the link the IMU is
attached to
frequency - The frequency of the IMU, in Hz
physicsClientId - The id of the simulated instance in which the
IMU should be spawned
"""
Sensor.__init__(self, robot_model, physicsClientId)
self.setFrequency(frequency)
self.imu_link = imu_link
self.angular_velocity = [0.0, 0.0, 0.0]
self._linear_velocity = [0.0, 0.0, 0.0]
self.linear_acceleration = [0.0, 0.0, 0.0]
self.values_lock = threading.Lock()
def __init__(self,
robot_model,
laser_id,
physicsClientId=0,
display=False):
"""
Constructor
Parameters:
robot_model - The pybullet model of the robot.
laser_id - The id of the link (Link type)
onto which the Lasers' are attached.
physicsClientId - The id of the simulated instance in which the
lasers are to be spawned
display - boolean that allow the display of the laser
"""
Sensor.__init__(self, robot_model, physicsClientId)
self.ray_from = []
self.ray_to = []
self.ray_ids = []
self.laser_value = [0] * NUM_RAY * NUM_LASER
self.laser_id = laser_id
self.display = display
def __init__(
self,
robot_model,
camera_id,
camera_link,
hfov,
vfov,
physicsClientId=0,
near_plane=0.01,
far_plane=100):
"""
Constructor
Parameters:
robot_model - The pybullet model of the robot
camera_id - an int describing the id of the camera
camera_link - The link (Link type) onto which the camera's attached
hfov - The value of the horizontal field of view angle (in degrees)
vfov - The value of the vertical field of view angle (in degrees)
physicsClientId - The id of the simulated instance in which the
camera is to be spawned
near_plane - The near plane distance
far_plane - The far plane distance
"""
Sensor.__init__(self, robot_model, physicsClientId)
self.camera_id = camera_id
self.camera_link = camera_link
self.near_plane = near_plane
self.far_plane = far_plane
self.frame = None
self.projection_matrix = None
self.resolution = None
self.hfov = None
self.vfov = None
self.intrinsic_matrix = None
self.resolution_lock = threading.Lock()
self._setFov(hfov, vfov)
def __init__(self, physics_client):
"""
Constructor
"""
Sensor.__init__(self, -1, physics_client)