def check_valid(self):
assert self.xyz is not None or self.rpy is not None
# Aliases for backwards compatibility
@property
def rotation(self): return self.rpy
@rotation.setter
def rotation(self, value): self.rpy = value
@property
def position(self): return self.xyz
@position.setter
def position(self, value): self.xyz = value
xmlr.reflect(Pose, params = [
xmlr.Attribute('xyz', 'vector3', False),
xmlr.Attribute('rpy', 'vector3', False)
])
# Common stuff
name_attribute = xmlr.Attribute('name', str)
origin_element = xmlr.Element('origin', Pose, False)
class Color(xmlr.Object):
def __init__(self, *args):
# What about named colors?
count = len(args)
if count == 4 or count == 3:
self.rgba = args
elif count == 1:
self.rgba = args[0]
import urdf_parser_py.xml_reflection as xmlr
xmlr.start_namespace('srdf')
verbose = True
# Common stuff
name_attribute = xmlr.Attribute('name', str)
class Link(xmlr.Object):
def __init__(self, name=None):
self.name = name
xmlr.reflect(Link, params=[name_attribute])
class Joint(xmlr.Object):
def __init__(self, name=None):
self.name = name
xmlr.reflect(Joint, params=[name_attribute])
class JointVal(xmlr.Object):
def __init__(self, name=None, value=[]):
self.name = name
self.value = value
from urdf_parser_py.xml_reflection.basics import *
import urdf_parser_py.xml_reflection as xmlr
xmlr.start_namespace('srdf')
verbose = True
# Common stuff
name_attribute = xmlr.Attribute('name', str)
class Link(xmlr.Object):
def __init__(self, name = None):
self.name = name
xmlr.reflect(Link, params = [
name_attribute
])
class Joint(xmlr.Object):
def __init__(self, name = None):
self.name = name
xmlr.reflect(Joint, params = [
name_attribute
])
class JointVal(xmlr.Object):
def __init__(self, name = None, value = []):
self.name = name
self.value = value
@rotation.setter
def rotation(self, value):
self.rpy = value
@property
def position(self):
return self.xyz
@position.setter
def position(self, value):
self.xyz = value
xmlr.reflect(Pose,
params=[
xmlr.Attribute('xyz', 'vector3', False, default=[0, 0, 0]),
xmlr.Attribute('rpy', 'vector3', False, default=[0, 0, 0])
])
# Common stuff
name_attribute = xmlr.Attribute('name', str)
origin_element = xmlr.Element('origin', Pose, False)
class Color(xmlr.Object):
def __init__(self, *args):
# What about named colors?
count = len(args)
if count == 4 or count == 3:
self.rgba = args
elif count == 1:
def check_valid(self):
assert self.xyz is not None or self.rpy is not None
name_attribute = xmlr.Attribute('name', str)
pose_element = xmlr.Element('pose', Pose, False)
class Entity(xmlr.Object):
def __init__(self, name=None, pose=None):
self.name = name
self.pose = pose
xmlr.reflect(Entity, params=[name_attribute, pose_element])
class Inertia(xmlr.Object):
KEYS = ['ixx', 'ixy', 'ixz', 'iyy', 'iyz', 'izz']
def __init__(self, ixx=0.0, ixy=0.0, ixz=0.0, iyy=0.0, iyz=0.0, izz=0.0):
self.ixx = ixx
self.ixy = ixy
self.ixz = ixz
self.iyy = iyy
self.iyz = iyz
self.izz = izz
def to_matrix(self):
return [[self.ixx, self.ixy, self.ixz], [self.ixy, self.iyy, self.iyz],
@rotation.setter
def rotation(self, value):
self.rpy = value
@property
def position(self):
return self.xyz
@position.setter
def position(self, value):
self.xyz = value
xmlr.reflect(Pose,
params=[
xmlr.Attribute('xyz', 'vector3', False),
xmlr.Attribute('rpy', 'vector3', False)
])
# Common stuff
name_attribute = xmlr.Attribute('name', str)
origin_element = xmlr.Element('origin', Pose, False)
class Color(xmlr.Object):
def __init__(self, *args):
# What about named colors?
count = len(args)
if count == 4 or count == 3:
self.rgba = args
elif count == 1:
vec = self.as_vec()
get_type('vector6').write_xml(node, vec)
def check_valid(self):
assert self.xyz is not None or self.rpy is not None
name_attribute = xmlr.Attribute('name', str)
pose_element = xmlr.Element('pose', Pose, False)
class Entity(xmlr.Object):
def __init__(self, name = None, pose = None):
self.name = name
self.pose = pose
xmlr.reflect(Entity, params = [
name_attribute,
pose_element
])
class Inertia(xmlr.Object):
KEYS = ['ixx', 'ixy', 'ixz', 'iyy', 'iyz', 'izz']
def __init__(self, ixx=0.0, ixy=0.0, ixz=0.0, iyy=0.0, iyz=0.0, izz=0.0):
self.ixx = ixx
self.ixy = ixy
self.ixz = ixz
self.iyy = iyy
self.iyz = iyz
self.izz = izz
def to_matrix(self):
def check_valid(self):
assert self.xyz is not None or self.rpy is not None
name_attribute = xmlr.Attribute("name", str)
pose_element = xmlr.Element("pose", Pose, False)
class Entity(xmlr.Object):
def __init__(self, name=None, pose=None):
self.name = name
self.pose = pose
xmlr.reflect(Entity, params=[name_attribute, pose_element])
class Inertia(xmlr.Object):
KEYS = ["ixx", "ixy", "ixz", "iyy", "iyz", "izz"]
def __init__(self, ixx=0.0, ixy=0.0, ixz=0.0, iyy=0.0, iyz=0.0, izz=0.0):
self.ixx = ixx
self.ixy = ixy
self.ixz = ixz
self.iyy = iyy
self.iyz = iyz
self.izz = izz
def to_matrix(self):
return [[self.ixx, self.ixy, self.ixz], [self.ixy, self.iyy, self.iyz], [self.ixz, self.iyz, self.izz]]
def check_valid(self):
assert self.xyz is not None or self.rpy is not None
name_attribute = xmlr.Attribute("name", str)
pose_element = xmlr.Element("pose", Pose, False)
class Entity(xmlr.Object):
def __init__(self, name=None, pose=None):
self.name = name
self.pose = pose
xmlr.reflect(Entity, params=[name_attribute, pose_element])
class Inertia(xmlr.Object):
KEYS = ["ixx", "ixy", "ixz", "iyy", "iyz", "izz"]
def __init__(self, ixx=0.0, ixy=0.0, ixz=0.0, iyy=0.0, iyz=0.0, izz=0.0):
self.ixx = ixx
self.ixy = ixy
self.ixz = ixz
self.iyy = iyy
self.iyz = iyz
self.izz = izz
def to_matrix(self):
return [
