xmlr.Attribute('value', "vector")])
class Sphere(xmlr.Object):
def __init__(self, center=None, radius=0.0):
self.center = center
self.radius = radius
xmlr.reflect(
Sphere,
params=[xmlr.Attribute('center', str),
xmlr.Attribute('radius', float)])
# Common stuff again
link_element = xmlr.Element('link', Link, False)
class VirtualJoint(xmlr.Object):
TYPES = ['unknown', 'fixed', 'floating', 'planar']
def __init__(self,
name=None,
child_link=None,
parent_frame=None,
joint_type=None):
self.name = name
self.child_link = child_link
self.parent_frame = parent_frame
self.type = joint_type
name_attribute,
xmlr.Attribute('value', float)
])
class Sphere(xmlr.Object):
def __init__(self, center = None, radius = 0.0):
self.center = center
self.radius = radius
xmlr.reflect(Sphere, params = [
xmlr.Attribute('center', str),
xmlr.Attribute('radius', float)
])
# Common stuff again
link_element = xmlr.Element('link', Link, False)
class VirtualJoint(xmlr.Object):
TYPES = ['unknown', 'fixed', 'floating', 'planar']
def __init__(self, name = None, child_link = None, parent_frame = None, joint_type = None):
self.name = name
self.child_link = child_link
self.parent_frame = parent_frame
self.type = joint_type
def check_valid(self):
assert self.type in self.TYPES, "Invalid joint type: {}".format(self.type)
# Aliases
@property
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:
self.rgba = args[0]
elif count == 0:
self.rgba = None
if self.rgba is not None:
if len(self.rgba) == 3:
self.rgba += [1.]
def read_xml(self, node):
# Better way to do this? Define type?
vec = get_type('vector6').read_xml(node)
self.load_vec(vec)
def write_xml(self, node):
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):
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]
elif count == 0:
self.rgba = None
if self.rgba is not None:
if len(self.rgba) == 3:
self.rgba += [1.]
def read_xml(self, node):
# Better way to do this? Define type?
vec = get_type("vector6").read_xml(node)
self.load_vec(vec)
def write_xml(self, node):
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):
