def OnNew(self, event):
dialog = ui_definition.DialogDefinition(
ui_labels.MAIN_WIN['prog_name'],
self.robo.name, self.robo.nl,
self.robo.nj, self.robo.structure,
self.robo.is_floating, self.robo.is_mobile
)
if dialog.ShowModal() == wx.ID_OK:
result = dialog.get_values()
new_robo = Robot(
name=result['name'],
NL=result['num_links'],
NJ=result['num_joints'],
NF=result['num_frames'],
structure=result['structure'],
is_floating=result['is_floating'],
is_mobile=result['is_mobile']
)
new_robo.set_defaults(base=True)
if result['keep_geo']:
nf = min(self.robo.NF, new_robo.NF)
new_robo.ant[:nf] = self.robo.ant[:nf]
new_robo.sigma[:nf] = self.robo.sigma[:nf]
new_robo.mu[:nf] = self.robo.mu[:nf]
new_robo.gamma[:nf] = self.robo.gamma[:nf]
new_robo.alpha[:nf] = self.robo.alpha[:nf]
new_robo.theta[:nf] = self.robo.theta[:nf]
new_robo.b[:nf] = self.robo.b[:nf]
new_robo.d[:nf] = self.robo.d[:nf]
new_robo.r[:nf] = self.robo.r[:nf]
if result['keep_dyn']:
nl = min(self.robo.NL, new_robo.NL)
new_robo.Nex[:nl] = self.robo.Nex[:nl]
new_robo.Fex[:nl] = self.robo.Fex[:nl]
new_robo.FS[:nl] = self.robo.FS[:nl]
new_robo.IA[:nl] = self.robo.IA[:nl]
new_robo.FV[:nl] = self.robo.FV[:nl]
new_robo.MS[:nl] = self.robo.MS[:nl]
new_robo.M[:nl] = self.robo.M[:nl]
new_robo.J[:nl] = self.robo.J[:nl]
if result['keep_joint']:
nj = min(self.robo.NJ, new_robo.NJ)
new_robo.eta[:nj] = self.robo.eta[:nj]
new_robo.k[:nj] = self.robo.k[:nj]
new_robo.qdot[:nj] = self.robo.qdot[:nj]
new_robo.qddot[:nj] = self.robo.qddot[:nj]
new_robo.GAM[:nj] = self.robo.GAM[:nj]
if result['keep_base']:
new_robo.Z = self.robo.Z
new_robo.w0 = self.robo.w0
new_robo.wdot0 = self.robo.wdot0
new_robo.v0 = self.robo.v0
new_robo.vdot0 = self.robo.vdot0
new_robo.G = self.robo.G
new_robo.set_defaults(joint=True)
self.robo = new_robo
self.robo.directory = filemgr.get_folder_path(self.robo.name)
self.feed_data()
dialog.Destroy()
def OnNew(self, event):
dialog = ui_definition.DialogDefinition(
ui_labels.MAIN_WIN['prog_name'],
self.robo.name, self.robo.nl,
self.robo.nj, self.robo.structure, self.robo.is_mobile
)
if dialog.ShowModal() == wx.ID_OK:
result = dialog.get_values()
new_robo = Robot(*result['init_pars'])
if result['keep_geo']:
nf = min(self.robo.NF, new_robo.NF)
new_robo.ant[:nf] = self.robo.ant[:nf]
new_robo.sigma[:nf] = self.robo.sigma[:nf]
new_robo.mu[:nf] = self.robo.mu[:nf]
new_robo.gamma[:nf] = self.robo.gamma[:nf]
new_robo.alpha[:nf] = self.robo.alpha[:nf]
new_robo.theta[:nf] = self.robo.theta[:nf]
new_robo.b[:nf] = self.robo.b[:nf]
new_robo.d[:nf] = self.robo.d[:nf]
new_robo.r[:nf] = self.robo.r[:nf]
if result['keep_dyn']:
nl = min(self.robo.NL, new_robo.NL)
new_robo.Nex[:nl] = self.robo.Nex[:nl]
new_robo.Fex[:nl] = self.robo.Fex[:nl]
new_robo.FS[:nl] = self.robo.FS[:nl]
new_robo.IA[:nl] = self.robo.IA[:nl]
new_robo.FV[:nl] = self.robo.FV[:nl]
new_robo.MS[:nl] = self.robo.MS[:nl]
new_robo.M[:nl] = self.robo.M[:nl]
new_robo.J[:nl] = self.robo.J[:nl]
if result['keep_base']:
new_robo.Z = self.robo.Z
new_robo.w0 = self.robo.w0
new_robo.wdot0 = self.robo.wdot0
new_robo.v0 = self.robo.v0
new_robo.vdot0 = self.robo.vdot0
new_robo.G = self.robo.G
self.robo = new_robo
self.robo.directory = filemgr.get_folder_path(self.robo.name)
self.feed_data()
dialog.Destroy()
def OnNew(self, event):
dialog = ui_definition.DialogDefinition(
ui_labels.MAIN_WIN['prog_name'], self.robo.name, self.robo.nl,
self.robo.nj, self.robo.structure, self.robo.is_mobile)
if dialog.ShowModal() == wx.ID_OK:
result = dialog.get_values()
new_robo = Robot(*result['init_pars'])
if result['keep_geo']:
nf = min(self.robo.NF, new_robo.NF)
new_robo.ant[:nf] = self.robo.ant[:nf]
new_robo.sigma[:nf] = self.robo.sigma[:nf]
new_robo.mu[:nf] = self.robo.mu[:nf]
new_robo.gamma[:nf] = self.robo.gamma[:nf]
new_robo.alpha[:nf] = self.robo.alpha[:nf]
new_robo.theta[:nf] = self.robo.theta[:nf]
new_robo.b[:nf] = self.robo.b[:nf]
new_robo.d[:nf] = self.robo.d[:nf]
new_robo.r[:nf] = self.robo.r[:nf]
if result['keep_dyn']:
nl = min(self.robo.NL, new_robo.NL)
new_robo.Nex[:nl] = self.robo.Nex[:nl]
new_robo.Fex[:nl] = self.robo.Fex[:nl]
new_robo.FS[:nl] = self.robo.FS[:nl]
new_robo.IA[:nl] = self.robo.IA[:nl]
new_robo.FV[:nl] = self.robo.FV[:nl]
new_robo.MS[:nl] = self.robo.MS[:nl]
new_robo.M[:nl] = self.robo.M[:nl]
new_robo.J[:nl] = self.robo.J[:nl]
if result['keep_base']:
new_robo.Z = self.robo.Z
new_robo.w0 = self.robo.w0
new_robo.wdot0 = self.robo.wdot0
new_robo.v0 = self.robo.v0
new_robo.vdot0 = self.robo.vdot0
new_robo.G = self.robo.G
self.robo = new_robo
self.robo.directory = filemgr.get_folder_path(self.robo.name)
self.feed_data()
dialog.Destroy()
def Export(self, name):
NJ = len([i for i in self.elements if (isinstance(i, SuperRevoluteJoint) or isinstance(i, SuperPrismaticJoint)) and not i.virtual_joint] )
NL = len([i for i in self.elements if isinstance(i, Point) and not i.virtual_joint] )-1
NF = NL+2*(NJ-NL)
if not self.structure:
return
if not self.structure[0]-self.structure[1]:
structure = SIMPLE
elif not NJ-NL:
structure = TREE
else:
structure = CLOSED_LOOP
robot = Robot(name, NJ=NJ, NL=NL, NF=NF, is_mobile=False,
structure=structure)
robot.G = Matrix([var('G1'), var('G2'), var('G3')])
if self.structure[4][0]:
robot.Z = transpose(self.elements[self.structure[4][0]-1].T)
frames = []
end = []
cut = []
for branch in self.branches[self.structure[0]:self.structure[1]+1]:
frames += [i for i in branch[1:-2] if not isinstance(self.elements[i-1], Point)]
if not self.elements[branch[-2]-1].virtual_joint:
end.append(branch[-2])
else:
cut.append(branch[-2])
frames = [ i for i in frames if not i in end and not i in cut]
frames += end + cut
sigma, mu, theta, alpha, gamma, d, r, b, ant = [],[],[],[],[],[],[],[],[]
for frame in frames:
##
if isinstance(self.elements[frame-1], SuperPrismaticJoint):
sigma.append(1)
elif isinstance(self.elements[frame-1], SuperRevoluteJoint):
sigma.append(0)
else:
sigma.append(2)
i = [i for i in range(len(frames)) if frames[i] == self.elements[frame-1].ant]
if len(i)==0 and self.elements[frame-1].ant==self.structure[4][0]:
ant.append(0)
elif len(i)>0:
ant.append(i[0]+1)
else:
msg = wx.MessageDialog (None, 'Export error, cannot deifne the parameters.', style=wx.OK|wx.CENTRE)
msg.ShowModal()
return
if self.elements[frame-1].active and not self.elements[frame-1].cut_joint:
mu.append(1)
else:
mu.append(0)
if isinstance(self.elements[frame-1], SuperRevoluteJoint) and not self.elements[frame-1].virtual_joint:
theta.append(var('th%s' % (len(theta)+1)))
else:
theta.append(self.elements[frame-1].theta)
if isinstance(self.elements[frame-1], SuperPrismaticJoint) and not self.elements[frame-1].virtual_joint:
r.append(var('r%s' % (len(theta)+1)))
else:
r.append(self.elements[frame-1].r)
alpha.append(self.elements[frame-1].alpha)
d.append(self.elements[frame-1].d)
gamma.append(self.elements[frame-1].gamma)
b.append(self.elements[frame-1].b)
robot.sigma[1:] = sigma
robot.theta[1:] = theta
robot.alpha[1:] = alpha
robot.gamma[1:] = gamma
robot.d[1:] = d
robot.r[1:] = r
robot.b[1:] = b
robot.ant[1:] = ant
robot.mu[1:] = mu
parfile.writepar(robot)
