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)
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)
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)
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)
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)
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")
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)
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)
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)
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)
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)
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)