uaibot.simobjects.rigidobject module

class uaibot.simobjects.rigidobject.RigidObject(list_model_3d, name=’’, htm=array([[1., 0., 0., 0.], [0., 1., 0., 0.], [0., 0., 1., 0.], [0., 0., 0., 1.]]))

Bases: object

A rigid object.

Parameters

name

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

list_model_3d

The 3d model that compose the object.

htm

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

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

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

property list_model_3d

The list of 3d models of the object.

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