def _generateRBC(self):
self.obstacles, self.obstacleCenter = [], []
for i in range(self.config_RBC['numObstacles']):
name = 'obs' + str(i)
self.obstacles.append(
RBCObstacle(np.array(self.config_RBC[name]['center']),
self.config_RBC[name]['scale'],
np.array(self.config_RBC[name]['orient'])))
self.obstacleCenter.append(self.obstacles[i].center)
def obstacleConstructorCallBack(configName = 'config_RBC.json'):
with open(configName, 'r') as f:
config = json.load(f)
obstacles, obstacleCenter = [], []
for i in range(config['numObstacles']):
name = 'obs' + str(i)
obstacles.append(RBCObstacle(np.array(config[name]['center']), config[name]['scale'], np.array(config[name]['orient'])))
obstacleCenter.append(obstacles[i].center)
return obstacles, obstacleCenter