def __init__(self, name_or_handle: Union[str, int]):
if isinstance(name_or_handle, int):
self._handle = name_or_handle
else:
self._handle = vrep.simGetObjectHandle(name_or_handle)
assert_type = self._get_requested_type()
actual = ObjectType(vrep.simGetObjectType(self._handle))
if actual != assert_type:
raise WrongObjectTypeError(
'You requested object of type %s, but the actual type was '
'%s' % (assert_type.name, actual.name))
def to_type(handle: int) -> Object:
"""Converts an object handle to the correct sub-type.
:param handle: The internal handle of an object.
:return: The sub-type of this object.
"""
t = vrep.simGetObjectType(handle)
if t == vrep.sim_object_shape_type:
return Shape(handle)
elif t == vrep.sim_object_dummy_type:
return Dummy(handle)
elif t == vrep.sim_object_path_type:
return CartesianPath(handle)
elif t == vrep.sim_object_joint_type:
return Joint(handle)
elif t == vrep.sim_object_visionsensor_type:
return VisionSensor(handle)
elif t == vrep.sim_object_forcesensor_type:
return ForceSensor(handle)
elif t == vrep.sim_object_proximitysensor_type:
return ProximitySensor(handle)
def _get_requested_type(self) -> ObjectType:
"""Gets the type of the object.
:return: Type of the object.
"""
return ObjectType(vrep.simGetObjectType(self.get_handle()))
def get_type(self) -> ObjectType:
"""Gets the type of the object.
:return: Type of the object.
"""
return ObjectType(vrep.simGetObjectType(self._handle))
def get_object_type(name: str) -> ObjectType:
"""Gets the type of the object.
:return: Type of the object.
"""
return ObjectType(vrep.simGetObjectType(vrep.simGetObjectHandle(name)))
