Source code for pykin.geometry.geometry

from pykin.kinematics.transform import Transform


[docs]class Visual: """ class of Visual Args: offset (Transform): visual offset geom_type (str): visual type (box, cylinder, spehre, mesh) geom_param (dict): visual parameters """ TYPES = ['box', 'cylinder', 'sphere', 'mesh'] def __init__( self, offset=Transform(), geom_type=None, geom_param=None ): self.offset = offset self.gtype = geom_type self.gparam = geom_param def __str__(self): return f"""Visual(offset={self.offset}, geom_type={self.gtype}, geom_param={self.gparam})""" def __repr__(self): return 'pykin.geometry.geometry.{}()'.format(type(self).__name__) @property def offset(self): return self._offset @offset.setter def offset(self, offset): self._offset = Transform(offset.rot, offset.pos)
[docs]class Collision: """ class of Collision Args: offset (Transform): collision offset geom_type (str): collision type (box, cylinder, spehre, mesh) geom_param (dict): collision parameters """ TYPES = ['box', 'cylinder', 'sphere', 'mesh'] def __init__( self, offset=Transform(), geom_type=None, geom_param=None ): self.offset = offset self.gtype = geom_type self.gparam = geom_param def __str__(self): return f"""Collision(offset={self.offset}, geom_type={self.gtype}, geom_param={self.gparam})""" def __repr__(self): return 'pykin.geometry.geometry.{}()'.format(type(self).__name__) @property def offset(self): return self._offset @offset.setter def offset(self, offset): self._offset = Transform(offset.rot, offset.pos)