Defines a new data field for this component, either for export (sensors) or for import (actuators).
Note
Several fields with the same name may be present if they belong to different ‘abstraction levels’.
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Defines an abstraction level for a component.
Abstraction levels are predefined subsets of the component output or input, defining a particular functional level for your component.
Note
Two special level names are reserved: all and default. You can not use them.
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Add a property to the current class of component
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Loading Helpers for ‘classpath’ configuration
Creates an instances of a class from a component abstration level.
Return a the rotation matrix of an object. Used to transform another object to this one’s coordinate system.
Return the inverse of the rotation matrix of an object.
Used to get the position of another object with respect to this one.
Force the given angle to be between PI and -PI
This function expects an angle given in radians It will reduce the input angle to be less than PI, and give it the correct sign.
Using new method proposed by David Hodo: hododav@tigermail.auburn.edu
Returns all active objects in current scene, ie objects that have their ‘Object’ property set to True.
Returns a dictionary containing the differents properties for a given active object.
If the object is not active (ie, it has no ‘Object’ property, or the property is set to False), None is returned.
If no label is available, it defaults to the Blender name. The description field may be an empty string. If no type is available, it defaults to ‘Object’. If the graspable flag is not present, it defaults to False.
Parameters: | name – the Blender name of the object. |
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Returns: | a dictionary {‘label’:string, ‘description’:string, ‘type’:string, ‘graspable’:bool} |
Returns all objects in current scene that have the ‘Graspable’ property set to True, amongst active objects.
Returns the label of a given active object.
If the object is not active (ie, it has no ‘Object’ property, or the property is set to False), None is returned.
If no label is available, it defaults to the Blender name.
Parameters: | name – the Blender name of the object. |
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Returns: | the label |
Returns the label of a given active object.
If the object is not active (ie, it has no ‘Object’ property, or the property is set to False), None is returned.
If no label is available, it defaults to the Blender name.
Parameters: | name – the Blender name of the object. |
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Returns: | the label |
Statistics helper for Morse usage
Bases: builtins.object
Transformation3d represents a generic 3D transformation. It is used by each component of the simulator to know their position in the world. Blender does not propose such an interface, only some rotation matrix and translation vector.
Internally, we store an internal 4x4 matrix, and use it to compute transformation. the euler representation is then calculated on base of matrix (euler ZYX convention)
Note : Blender store its matrix in column major mode ...
Compute the 3d distance between two transformations.
nor self, nor t3d are modified by the call of this method
Compute the 2d distance between two transformations.
nor self, nor t3d are modified by the call of this method
Compute the transformation between itself and another transformation t3d. In other words, A.transformation3d_with(B) returns inv(A) * B.
self is not modified by the call of this function
Update the transformation3D to reflect the transformation between obj (a blender object) and the blender world origin
Update the transformation3D to reflect the transformation between obj (a blender object) and the blender world origin. In this case, the robot moves forwar along the Y axis.
Change the values of yaw, pitch, roll for Blender vehicles Robots that use the Blender vehicle constraints move in the direction of the Y axis, contrary to most of the MORSE components that move along the X axis.