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Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
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
 
 _port_name
 
 _sim_ids_counters
 
 _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
protected

Definition at line 12 of file python_simworld_control.py.

◆ _rpc_client

python_simworld_control.WorldController._rpc_client
protected

Definition at line 11 of file python_simworld_control.py.

◆ _sim_ids_counters

python_simworld_control.WorldController._sim_ids_counters
protected

Definition at line 17 of file python_simworld_control.py.


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