SimObject

Pose

class pose.Pose(*args, **kwargs)

The pose class allows for a posing of objects in 2D space. The pose uses a right-hand coordinate system with counter-clockwise measurement of theta from the x-axis

There are several ways to create a pose:

Pose(x,y,theta)	A pose at x,y and orientation theta
Pose(x,y)	Same as Pose(x,y,0)
Pose()	Same as Pose(0,0,0)
Pose([x,y,theta])	Same as Pose(x,y,theta)

There are several ways to access pose parameters:

x, y, theta = pose
x, y, theta = pose.get_list()
x = pose.x; y = pose.y; theta = pose.theta

get_list()

Get the pose as a list [x, y, theta]. Equivalent to list(pose).

get_transformation()

Get the 3x3 transformation matrix associated with the pose.

iscloseto(other, epsilon)

Compare this pose to other. Returns True if the relative distance in x, y and theta is smaller than epsilon

set_pose(*args, **kwargs)

Set all or some pose parameters.

Possible arguments are:

set_pose(x, y, theta)	Set all of x, y and theta
set_pose(another_pose)	Use x, y and theta from another pose
set_pose(x = 3.0)	Only change the x position
set_pose(theta = pi, y = 3.0)	Only change the y position and orientation
set_pose(another_pose, y = 1)	Use x and theta from another pose, use y=1

SimObject and simple shapes

class simobject.SimObject(pose, color=0)

The base class for all objects that can be drawn in the simulator. Every SimObject has a pose, an envelope and a color.

Parameters:

• pose (Pose) – The position of the object.
• color (int) – The internal color of the object (0xAARRGGBB or 0xRRGGBB). The default color is black.

get_color()

Get the internal color of the object

set_color(color)

Set the internal color of the object

get_pose()

Get the pose of the object in world coordinates

set_pose(pose)

Set the pose of the object in world coordinates

draw(renderer)

Draws the object using renderer (see Renderer).

The object doesn’t have to use only one color. It doesn’t even have to use its internal color while drawing.

get_envelope()

Get the envelope of the object in object’s local coordinates.

The envelope is a list of xy pairs, describing the shape of the bounding polygon.

get_world_envelope(recalculate=False)

Get the envelope of the object in world coordinates. Used for checking collision.

The envelope is cached, and will be recalculated if recalculate is True.

get_bounding_rect()

Get the smallest rectangle that contains the object as a tuple (x, y, width, height).

has_collision(other)

Check if the object has collided with other. Return True or False

get_contact_points(other)

Get a list of contact points with other object. Returns a list of (x, y)

get_bounds()

Get the smallest rectangle that contains the object as a tuple (xmin, ymin, xmax, ymax)

class simobject.Polygon(pose, shape, color)

The polygon is a simobject that gets the envelope supplied at construction. It draws itself as a filled polygon.

Parameters:

• pose (Pose) – The position of the polygon.
• shape (list((int,int))) – The list of points making up the polygon.
• color (int) – The color of the polygon (0xAARRGGBB or 0xRRGGBB).

draw(r)

Draw the envelope (shape) filling it with the internal color.

class simobject.Cloud(color)

The cloud is a collection of points.

add_point(pose)

Append a point at pose to the collection. The orientation of the pose is ignored

draw(r)

Draw a polyline with modes at all added points, using the internal color

class simobject.Path(start, color)

The path is a simobject that draws itself as a polyline. The line starts at start, and can be continued by adding points using add_point().

Parameters:

• start (Pose) – The starting point of the polyline in world coordinates.
• color (int) – The color of the line (0xAARRGGBB or 0xRRGGBB).

The path is used by the simulator to track the history of robot motion

reset(start)

Set the start point to start.x and start.y and remove all other points

draw(r)

Draw a polyline with modes at all added points, using the internal color