def get_actual_velocity(self) -> List:
v_lf = sim.simGetObjectFloatParameter(self.motorHandles[0], 2012)
v_rf = sim.simGetObjectFloatParameter(self.motorHandles[1], 2012)
v_lb = sim.simGetObjectFloatParameter(self.motorHandles[2], 2012)
v_rb = sim.simGetObjectFloatParameter(self.motorHandles[3], 2012)
#sim.jointfloatparam_velocity (2012)
vl = (v_lf + v_lb) / 2
vr = -(v_rf + v_rb) / 2
return [vl, vr]
def get_mass(self) -> float:
"""Gets the mass of the shape.
:return: A float representing the mass.
"""
return sim.simGetObjectFloatParameter(self._handle,
sim.sim_shapefloatparam_mass)
def get_joint_upper_velocity_limit(self) -> float:
"""Gets the joints upper velocity limit.
:return: The upper velocity limit.
"""
return sim.simGetObjectFloatParameter(
self._handle, sim.sim_jointfloatparam_upper_limit)
def get_far_clipping_plane(self) -> float:
""" Get the Sensor's far clipping plane.
:return: Near clipping plane (metres)
"""
return sim.simGetObjectFloatParameter(
self._handle, sim.sim_visionfloatparam_far_clipping)
def get_orthographic_size(self) -> float:
""" Get the Sensor's orthographic size.
:return: The sensor's orthographic size (in metres).
"""
return sim.simGetObjectFloatParameter(
self._handle, sim.sim_visionfloatparam_ortho_size)
def get_joint_velocity(self) -> float:
"""Get the current joint velocity.
:return: Velocity of the joint (linear or angular velocity depending
on the joint-type).
"""
return sim.simGetObjectFloatParameter(
self._handle, sim.sim_jointfloatparam_velocity)
def get_perspective_angle(self) -> float:
""" Get the Sensor's perspective angle.
:return: The sensor's perspective angle (in degrees).
"""
return math.degrees(
sim.simGetObjectFloatParameter(
self._handle, sim.sim_visionfloatparam_perspective_angle))
def get_intensity_properties(self):
""" Gets light intensity properties.
:return: The light intensity properties cast_shadows, spot_exponent, spot_cutoff, const_atten_factor,
linear_atten_factor, quad_atten_factor
"""
cast_shadows = sim.simGetObjectInt32Parameter(
self._handle, sim.sim_lightintparam_pov_casts_shadows)
spot_exponent = sim.simGetObjectFloatParameter(
self._handle, sim.sim_lightfloatparam_spot_exponent)
spot_cutoff = sim.simGetObjectFloatParameter(
self._handle, sim.sim_lightfloatparam_spot_cutoff)
const_atten_factor = sim.simGetObjectFloatParameter(
self._handle, sim.sim_lightfloatparam_const_attenuation)
linear_atten_factor = sim.simGetObjectFloatParameter(
self._handle, sim.sim_lightfloatparam_lin_attenuation)
quad_atten_factor = sim.simGetObjectFloatParameter(
self._handle, sim.sim_lightfloatparam_quad_attenuation)
return bool(cast_shadows), spot_exponent, spot_cutoff, const_atten_factor, linear_atten_factor,\
quad_atten_factor
def get_bounding_box(self) -> List[float]:
"""Gets the bounding box (relative to the object reference frame).
:return: A list containing the min x, max x, min y, max y, min z, max z
positions.
"""
params = [sim.sim_objfloatparam_objbbox_min_x,
sim.sim_objfloatparam_objbbox_max_x,
sim.sim_objfloatparam_objbbox_min_y,
sim.sim_objfloatparam_objbbox_max_y,
sim.sim_objfloatparam_objbbox_min_z,
sim.sim_objfloatparam_objbbox_max_z]
return [sim.simGetObjectFloatParameter(
self._handle, p) for p in params]
def get_model_bounding_box(self) -> List[float]:
"""Gets the models bounding box (relative to models reference frame).
:raises: ObjectIsNotModel if the object is not a model.
:return: A list containing the min x, max x, min y, max y, min z, max z
positions.
"""
self._check_model()
params = [sim.sim_objfloatparam_modelbbox_min_x,
sim.sim_objfloatparam_modelbbox_max_x,
sim.sim_objfloatparam_modelbbox_min_y,
sim.sim_objfloatparam_modelbbox_max_y,
sim.sim_objfloatparam_modelbbox_min_z,
sim.sim_objfloatparam_modelbbox_max_z]
return [sim.simGetObjectFloatParameter(
self._handle, p) for p in params]
