class Hexapod(object):
def __init__(self, config):
# Prepare the root reference frame.
self.ref = ReferenceFrame(Vector3([0., 0., 0.]),
Quaternion.from_z_rotation(0.))
self.body = HexapodBody(self.ref, config)
self.legs = [
HexapodLeg(config, self.body, self.ref, legid)
for legid in config.getLegs()
]
self.mp = HexapodMotionPlanner(config, self.body, self.legs)
self.stepmp = HexapodStepMotionPlanner(config, self, self.mp,
self.legs,
config.getLegPhases()[2])
self.stepmp.start()
def tick(self):
self.stepmp.tick()
self.mp.tick()
def setWalking(self, forward, right, clockwise):
self.stepmp.setStepParams(forward, right, clockwise)
def setBodyPose(self, angle, trans):
self.mp.updateTarget(
{"body": {
"trans": trans,
"rot": angle,
"frames": 1
}})
def getRawState(self):
return dict((l.getId(), [s.getRotation() for s in l.getSegments()])
for l in self.legs)
def __init__(self, config):
# Prepare the root reference frame.
self.ref = ReferenceFrame(Vector3([0., 0., 0.]),
Quaternion.from_z_rotation(0.))
self.body = HexapodBody(self.ref, config)
self.legs = [
HexapodLeg(config, self.body, self.ref, legid)
for legid in config.getLegs()
]
self.mp = HexapodMotionPlanner(config, self.body, self.legs)
self.stepmp = HexapodStepMotionPlanner(config, self, self.mp,
self.legs,
config.getLegPhases()[2])
self.stepmp.start()
def __init__(self, config):
# Prepare the root reference frame.
self.ref = ReferenceFrame(Vector3([0.,0.,0.]), Quaternion.from_z_rotation(0.));
self.body = HexapodBody(self.ref, config);
self.legs = [HexapodLeg(config, self.body, self.ref, legid) for legid in config.getLegs()];
self.mp = HexapodMotionPlanner(config, self.body, self.legs);
self.stepmp = HexapodStepMotionPlanner(config, self, self.mp, self.legs, config.getLegPhases()[2]);
self.stepmp.start();
class Hexapod(object):
def __init__(self, config):
# Prepare the root reference frame.
self.ref = ReferenceFrame(Vector3([0.,0.,0.]), Quaternion.from_z_rotation(0.));
self.body = HexapodBody(self.ref, config);
self.legs = [HexapodLeg(config, self.body, self.ref, legid) for legid in config.getLegs()];
self.mp = HexapodMotionPlanner(config, self.body, self.legs);
self.stepmp = HexapodStepMotionPlanner(config, self, self.mp, self.legs, config.getLegPhases()[2]);
self.stepmp.start();
def tick(self):
self.stepmp.tick();
self.mp.tick();
def setWalking(self, forward, right, clockwise):
self.stepmp.setStepParams(forward, right, clockwise);
def setBodyPose(self, angle, trans):
self.mp.updateTarget({"body": {"trans": trans, "rot": angle, "frames": 1}});
def getRawState(self):
return dict((l.getId(), [s.getRotation() for s in l.getSegments()]) for l in self.legs)
