uaibot.simobjects.ball module
class uaibot.simobjects.ball.Ball(htm=array([[1., 0., 0., 0.], [0., 1., 0., 0.], [0., 0., 1., 0.], [0., 0., 0., 1.]]), name=’’, radius=1, mass=1, color=’red’, opacity=1, mesh_material=None)
Bases: object
A ball object.
Parameters
- htm
- The object’s configuration. (default: the same as the current HTM).
- name
- The object’s name. (default: ‘genBall’).
- radius
- The object’s radius, in meters. (default: 1).
- mass
- The object’s mass, in kg. (default: 1).
- color
- The object’s color, a HTML - compatible string. (default: “red”).
- opacity
- The opacity. 1 = fully opaque, and 0 = transparent.
- mesh_material: ‘MeshMaterial’ object
- The object mesh material. If set to ‘None’, the default is used. (default: None).
aabb()
Compute the width, depth and height of an axis aligned bounding box (aabb) that covers the object. It also considers the current orientation.
Returns
- width
- The width of the box, in meters.
- depth
- The depth of the box, in meters.
- height
- The depth of the box, in meters.
add_ani_frame(time, htm=None)
Add a single configuration to the object’s animation queue.
Parameters
- time: positive float
- The timestamp of the animation frame, in seconds.
- htm
- The object’s configuration (default: the same as the current HTM).
Returns
None
property color
Color of the object
copy()
Return a deep copy of the object, without copying the animation frames.
gen_code()
Generate code for injection.
generate_samples(delta=0.025)
property htm
Object pose. A 4x4 homogeneous transformation matrix written is scenario coordinates.
inertia_matrix(htm=None)
The 3D inertia matrix of the object, written in the world frame. Assume that the transformation between the word frame and the object frame is ‘htm’.
Parameters
- htm
- The object’s configuration for which the inertia matrix will be computed (default: the same as the current HTM).
Returns
- inertia_matrix
- The 3D inertia matrix.
property mass
Mass of the object, in kg.
property mesh_material
Mesh properties of the object.
property name
Name of the object.
projection(point, htm=None)
The projection of a point in the object, that is, the closest point in the object to a point ‘point’.
Parameters
- point
- The point for which the projection will be computed.
- htm
- The object’s configuration (default: the same as the current HTM).
Returns
- proj_point
- The projection of the point ‘point’ in the object.
- d
- The distance between the object and ‘point’.
property radius
The ball radius, in meters.
set_ani_frame(htm=None)
Reset object’s animation queue and add a single configuration to the object’s animation queue.
Parameters
- htm
- The object’s configuration (default: the same as the current HTM).
Returns
None
property volume
The volume of the object, in m³.