uaibot.simobjects.group module

class uaibot.simobjects.group.Group(list_of_objects, name=’’, htm=array([[1., 0., 0., 0.], [0., 1., 0., 0.], [0., 0., 1., 0.], [0., 0., 0., 1.]]))

Bases: object

A group of other ‘simobject’ objects.

When the objects are grouped, it is assumed that the scenario frame is the parent frame of all objects. This means that when the group is created, it stores the htm of each object at that moment, htm_base_object[i]. When the htm of the whole group is changed to ‘htm’, it changes the htm of each member i of the group to htm @ htm_base_object[i]. Thus, be sure that, when the group is created, all the objects are in the correct pose.

To see which type of objects are groupable, see the constant ‘Utils.IS_GROUPABLE’.

Parameters

htm

The object’s configuration. (default: the same as the current HTM).

name

The object’s name. (default: ‘genGroup’).

list_of_objects

List of objects. Each must be an object of the type contained in the constant list ‘Utils.IS_GROUPABLE’.

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

gen_code()

Generate code for injection.

property htm

Group pose. A 4x4 homogeneous transformation matrix written is scenario coordinates.

property htm_base_object

The pose of each object, written in scenario coordinates, when the group was created.

property list_of_objects

The list of objects contained in the group.

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