python_simworld_control.WorldController Class Reference

Public Member Functions
	__init__ (self)
	create_object (self, obj, size, location, colour)
	move_object (self, obj_id, location)
	rotate_object (self, obj_id, rotation)
	get_object_location (self, obj_id)
	del_all (self)
	__del__ (self)

Protected Member Functions
	_execute (self, cmd)
	_is_success (self, ans)
	_prepare_del_all_command (self)
	_prepare_create_command (self, obj, size, location, colour)
	_prepare_move_command (self, obj, obj_id, location)
	_prepare_rot_command (self, obj, obj_id, rotation)
	_prepare_get_command (self, obj, obj_id)

Protected Attributes
	_rpc_client = yarp.RpcClient()
str	_port_name = "/WorldController-" + str(id(self)) + "/commands"
	_sim_ids_counters = collections.defaultdict(lambda:0)
list	_objects = [ ]

Detailed Description

Class for controlling iCub simulator via its RPC world port.

Definition at line 7 of file python_simworld_control.py.

Constructor & Destructor Documentation

__init__()

python_simworld_control.WorldController.__init__

(

self

)

Definition at line 10 of file python_simworld_control.py.

__del__()

python_simworld_control.WorldController.__del__

(

self

)

Definition at line 146 of file python_simworld_control.py.

Member Function Documentation

_execute()

python_simworld_control.WorldController._execute ( self, cmd )

protected

Execute an RPC command, returning obtained answer bottle.

Definition at line 23 of file python_simworld_control.py.

_is_success()

python_simworld_control.WorldController._is_success ( self, ans )

protected

Check if RPC call answer Bottle indicates successfull execution.

Definition at line 29 of file python_simworld_control.py.

_prepare_create_command()

python_simworld_control.WorldController._prepare_create_command ( self, obj, size, location, colour )

protected

Prepare an RPC command for creating an object in the simulator environment.
        
        See Simulator Readme section 'Object Creation'
        
        Parameters:
            obj - object type string. 'sph', 'box', 'cyl' 'ssph', 'sbox' or 'scyl'.
            size - list of values specifying the size of an object. Parameters depend on object type:
                (s)box: [ x, y, z ]
                (s)sph: [ radius ]
                (s)cyl: [ radius, length ]
            location - coordinates of the object location, [ x, y, z ]
            colour - object colour in RGB (normalised), [ r, g, b ]
        Returns:
            yarp.Bottle with the command, ready to be sent to the rpc port of the simulator

Definition at line 40 of file python_simworld_control.py.

_prepare_del_all_command()

python_simworld_control.WorldController._prepare_del_all_command ( self )

protected

Prepare the "world del all" command bottle.

Definition at line 33 of file python_simworld_control.py.

_prepare_get_command()

python_simworld_control.WorldController._prepare_get_command ( self, obj, obj_id )

protected

Prepare the "world get <obj> <id>" command bottle.

Definition at line 89 of file python_simworld_control.py.

_prepare_move_command()

python_simworld_control.WorldController._prepare_move_command ( self, obj, obj_id, location )

protected

Prepare the "world set <obj> <xyz>" command bottle.

Definition at line 67 of file python_simworld_control.py.

_prepare_rot_command()

python_simworld_control.WorldController._prepare_rot_command ( self, obj, obj_id, rotation )

protected

Prepare the "world rot <obj> <rotxyz>" command bottle.

Definition at line 78 of file python_simworld_control.py.

create_object()

python_simworld_control.WorldController.create_object	(		self,
			obj,
			size,
			location,
			colour )

Create an object of a specified type, size, location and colour, returning internal object ID or -1 on error.

Definition at line 99 of file python_simworld_control.py.

del_all()

python_simworld_control.WorldController.del_all

(

self

)

Delete all objects from the simultor

Definition at line 135 of file python_simworld_control.py.

get_object_location()

python_simworld_control.WorldController.get_object_location	(		self,
			obj_id )

Obtain the object location from the simulator. Returns None on failure.

Definition at line 126 of file python_simworld_control.py.

move_object()

python_simworld_control.WorldController.move_object	(		self,
			obj_id,
			location )

Move an object specified by the internal id to another location.

Definition at line 116 of file python_simworld_control.py.

rotate_object()

python_simworld_control.WorldController.rotate_object	(		self,
			obj_id,
			rotation )

Rotate an object specified by the internal id giving its absolute rotation.

Definition at line 121 of file python_simworld_control.py.

Member Data Documentation

_objects

python_simworld_control.WorldController._objects = [ ]

protected

Definition at line 21 of file python_simworld_control.py.

_port_name

python_simworld_control.WorldController._port_name = "/WorldController-" + str(id(self)) + "/commands"

protected

Definition at line 12 of file python_simworld_control.py.

_rpc_client

python_simworld_control.WorldController._rpc_client = yarp.RpcClient()

protected

Definition at line 11 of file python_simworld_control.py.

_sim_ids_counters

python_simworld_control.WorldController._sim_ids_counters = collections.defaultdict(lambda:0)

protected

Definition at line 17 of file python_simworld_control.py.

---

The documentation for this class was generated from the following file:

• icub-tutorials/python/python_simworld_control.py