def add(self,
ob,
readonly=False,
display=True,
jointaxes=True,
eeframe=True,
shadow=True,
name=True):
"""
Add a robot to the graphical scene
:param ob: The object to add to the plot (robot or ellipse)
:type ob: DHRobot or EllipsePlot
:param readonly: Do not update the state of the object
(i.e. display not simulate), defaults to False
:type readonly: bool, optional
:param display: Display the object, defaults to True
:type display: bool, optional
:param jointaxes: Show the joint axes of the robot with arrows,
defaults to True
:type jointaxes: bool, optional
:param eeframe: Show the end-effector frame of the robot,
defaults to True
:type eeframe: bool, optional
:param shadow: Display a shadow of the robot on the x-y gound plane,
defaults to True
:type shadow: bool, optional
:param name: Display the name of the robot, defaults to True
:type name: bool, optional
``id = env.add(robot)`` adds the ``robot`` to the graphical
environment.
.. note::
- ``robot`` must be of an appropriate class.
- Adds the robot object to a list of robots which will be updated
when the ``step()`` method is called.
"""
super().add()
if isinstance(ob, rp.DHRobot) or isinstance(ob, rp.ERobot):
self.robots.append(
RobotPlot(ob, self.ax, readonly, display, jointaxes, eeframe,
shadow, name))
self.robots[len(self.robots) - 1].draw()
id = len(self.robots)
elif isinstance(ob, EllipsePlot):
ob.ax = self.ax
self.ellipses.append(ob)
self.ellipses[len(self.ellipses) - 1].draw()
id = len(self.ellipses)
self._set_axes_equal()
return id
def add(self,
ob,
readonly=False,
display=True,
jointaxes=True,
eeframe=True,
shadow=True,
name=True):
"""
Add a robot to the graphical scene
:param ob: [description]
:type ob: [type]
:param readonly: [description], defaults to False
:type readonly: bool, optional
:param display: [description], defaults to True
:type display: bool, optional
:param jointaxes: [description], defaults to True
:type jointaxes: bool, optional
:param eeframe: [description], defaults to True
:type eeframe: bool, optional
:param shadow: [description], defaults to True
:type shadow: bool, optional
:param name: [description], defaults to True
:type name: bool, optional
``id = env.add(robot)`` adds the ``robot`` to the graphical
environment.
.. note::
- ``robot`` must be of an appropriate class.
- Adds the robot object to a list of robots which will be updated
when the ``step()`` method is called.
"""
# TODO please fill in the options
# TODO it seems that add has different args for every backend, are
# any common ones? If yes, they should be in the superclass and we
# pass kwargs to that
super().add()
if isinstance(ob, rp.DHRobot) or isinstance(ob, rp.ERobot):
self.robots.append(
RobotPlot(ob, self.ax, readonly, display, jointaxes, eeframe,
shadow, name))
self.robots[len(self.robots) - 1].draw()
elif isinstance(ob, EllipsePlot):
ob.ax = self.ax
self.ellipses.append(ob)
self.ellipses[len(self.ellipses) - 1].draw()
self._set_axes_equal()