def init(self, parent_pose, child_pose, connection_path, x_pos, y_pos,
z_pos, a_pos, r_wheel_vel, l_wheel_vel, wheel_vel_limit,
wheel_radius, wheel_distance):
self.joint_obj = DiffDriveJoint(str(parent_pose[:-1]),
str(child_pose[:-1]), x_pos, y_pos,
z_pos, a_pos, r_wheel_vel, l_wheel_vel,
wheel_radius, wheel_distance)
self.conn_path = connection_path
op_construction_wrapper(
super(SetDiffDriveJoint, self).init,
'DiffDrive Joint',
['child_pose', 'child_parent', 'child_parent_tf'],
(connection_path, 'connection', self.joint_obj),
parent_pose=parent_pose,
child_parent=child_pose[:-1] + ('parent', ),
child_parent_tf=child_pose[:-1] + ('to_parent', ),
child_pose=child_pose,
x_pos=x_pos,
y_pos=y_pos,
z_pos=z_pos,
a_pos=a_pos,
r_wheel_vel=r_wheel_vel,
l_wheel_vel=l_wheel_vel,
wheel_vel_limit=wheel_vel_limit,
wheel_radius=wheel_radius,
wheel_distance=wheel_distance)
def init(self, name, joint_obj, parent_pose, child_pose, connection_path, connection_tf):
self.joint_obj = joint_obj
op_construction_wrapper(super(SetConnection, self).init,
name,
['child_pose', 'child_parent', 'child_parent_tf'],
(connection_path, 'connection', self.joint_obj),
parent_pose=parent_pose,
child_parent=child_pose[:-1] + ('parent',),
child_parent_tf=child_pose[:-1] + ('to_parent',),
child_pose=child_pose,
connection_tf=connection_tf)
def init(self, parent_pose, child_pose, connection_path, connection_tf, axis, position,vel_limit, mimic_m=None, mimic_o=None):
self.joint_obj = ContinuousJoint(str(parent_pose[:-1]), str(child_pose[:-1]), position)
self.conn_path = connection_path
op_construction_wrapper(super(SetContinuousJoint, self).init,
'Continuous Joint',
['child_pose', 'child_parent', 'child_parent_tf'],
(connection_path, 'connection', self.joint_obj),
parent_pose=parent_pose,
child_parent=child_pose[:-1] + ('parent',),
child_parent_tf=child_pose[:-1] + ('to_parent',),
child_pose=child_pose,
connection_tf=connection_tf,
axis=axis,
position=position,
vel_limit=vel_limit,
mimic_m=mimic_m,
mimic_o=mimic_o)
def init(self, parent_pose, child_pose, connection_path, connection_tf,
axis_x, axis_y, axis_z, pos_limit, vel_limit):
self.joint_obj = BallJoint(str(parent_pose[:-1]), str(child_pose[:-1]),
axis_x, axis_y, axis_z)
self.conn_path = connection_path
op_construction_wrapper(
super(SetBallJoint, self).init,
'Ball Joint', ['child_pose', 'child_parent', 'child_parent_tf'],
(connection_path, 'connection', self.joint_obj),
parent_pose=parent_pose,
child_pose=child_pose,
child_parent=child_pose[:-1] + ('parent', ),
child_parent_tf=child_pose[:-1] + ('to_parent', ),
connection_tf=connection_tf,
axis_x=axis_x,
axis_y=axis_y,
axis_z=axis_z,
pos_limit=pos_limit,
vel_limit=vel_limit)
def init(self, parent_pose, child_pose, connection_path, rot_axis, x_pos,
y_pos, a_pos, l_vel_limit, a_vel_limit):
self.joint_obj = OmnibaseJoint(str(parent_pose[:-1]),
str(child_pose[:-1]), x_pos, y_pos,
a_pos)
self.conn_path = connection_path
op_construction_wrapper(
super(SetOmnibaseJoint, self).init,
'Omnibase Joint',
['child_pose', 'child_parent', 'child_parent_tf'],
(connection_path, 'connection', self.joint_obj),
parent_pose=parent_pose,
child_parent=child_pose[:-1] + ('parent', ),
child_parent_tf=child_pose[:-1] + ('to_parent', ),
child_pose=child_pose,
rot_axis=rot_axis,
x_pos=x_pos,
y_pos=y_pos,
a_pos=a_pos,
lin_vel_limit=l_vel_limit,
ang_vel_limit=a_vel_limit)
def init(self, path, obj):
op_construction_wrapper(super(CreateComplexObject, self).init,
'Create Complex Object: {}'.format(type(obj)),
[], (path, 'path', obj))
self.obj = obj