uaibot.simobjects.frame module
class uaibot.simobjects.frame.Frame(htm=array([[1., 0., 0., 0.], [0., 1., 0., 0.], [0., 0., 1., 0.], [0., 0., 0., 1.]]), name=’’, size=0.3, axis_color=[‘red’, ‘lime’, ‘blue’], axis_names=[‘x’, ‘y’, ‘z’])
Bases: object
A frame object.
Parameters
- htm
- The object’s configuration. (default: the same as the current HTM).
- name
- The object’s name. (default: ‘genFrame’).
- size
- The axis sizes, in meters. (default: 0.3).
- axis_color
- A list of 3 HTML-compatible strings, one for each axis. (default: [‘red’, ‘lime’, ‘blue’]).
- axis_names
- The axis names. (default: [‘x’, ‘y’, ‘z’]).
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 axis_color
The axis colors. It is a list of 3 HTML-compatible colors.
property axis_name
The axis names. It is a list of 3 strings.
gen_code()
Generate code for injection.
property htm
Object pose. A 4x4 homogeneous transformation matrix written is scenario coordinates.
property name
Name of the object.
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 size
The axis size, in meters.