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)