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dynobstacle

DynBaseObstacleEntity #

Bases: QEntity

A dynamic obstacle detected by the robot.

Base class for rectangle and circle obstacles.

Source code in cogip/entities/dynobstacle.py 
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class DynBaseObstacleEntity(Qt3DCore.QEntity):
    """
    A dynamic obstacle detected by the robot.

    Base class for rectangle and circle obstacles.
    """

    def __init__(self, parent: Qt3DCore.QEntity):
        """
        Class constructor.
        """
        super().__init__(parent)
        self.parent = parent
        self.points = []

        self.material = Qt3DExtras.QDiffuseSpecularMaterial(self)
        self.material.setDiffuse(QtGui.QColor.fromRgb(255, 0, 0, 100))
        self.material.setDiffuse(QtGui.QColor.fromRgb(255, 0, 0, 100))
        self.material.setSpecular(QtGui.QColor.fromRgb(255, 0, 0, 100))
        self.material.setShininess(1.0)
        self.material.setAlphaBlendingEnabled(True)
        self.addComponent(self.material)

        self.transform = Qt3DCore.QTransform(self)
        self.addComponent(self.transform)

        self.bb = PathEntity(QtCore.Qt.darkRed, self.parent)

    def set_bounding_box(self, points: list[models.Vertex]) -> None:
        if self.points == points:
            return

        self.points = points
        bb_points = []
        if points:
            for point in points:
                bb_points.append(models.Vertex(x=point.x, y=point.y, z=5))
            bb_points.append(models.Vertex(x=points[0].x, y=points[0].y, z=5))
        self.bb.set_points(bb_points)

    def setEnabled(self, isEnabled: bool) -> None:
        super().setEnabled(isEnabled)
        self.bb.setEnabled(isEnabled)

__init__(parent) #

Class constructor.

Source code in cogip/entities/dynobstacle.py 
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def __init__(self, parent: Qt3DCore.QEntity):
    """
    Class constructor.
    """
    super().__init__(parent)
    self.parent = parent
    self.points = []

    self.material = Qt3DExtras.QDiffuseSpecularMaterial(self)
    self.material.setDiffuse(QtGui.QColor.fromRgb(255, 0, 0, 100))
    self.material.setDiffuse(QtGui.QColor.fromRgb(255, 0, 0, 100))
    self.material.setSpecular(QtGui.QColor.fromRgb(255, 0, 0, 100))
    self.material.setShininess(1.0)
    self.material.setAlphaBlendingEnabled(True)
    self.addComponent(self.material)

    self.transform = Qt3DCore.QTransform(self)
    self.addComponent(self.transform)

    self.bb = PathEntity(QtCore.Qt.darkRed, self.parent)

DynCircleObstacleEntity #

Bases: DynBaseObstacleEntity

A dynamic circle obstacle detected by the robot.

Represented as a transparent red cylinder.

Source code in cogip/entities/dynobstacle.py 
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class DynCircleObstacleEntity(DynBaseObstacleEntity):
    """
    A dynamic circle obstacle detected by the robot.

    Represented as a transparent red cylinder.
    """

    def __init__(self, parent: Qt3DCore.QEntity):
        """
        Class constructor.
        """
        super().__init__(parent)
        self.position: tuple[int, int, int] = None

        self.mesh = Qt3DExtras.QCylinderMesh()
        self.mesh.setLength(200)
        self.mesh.setRadius(400)
        self.addComponent(self.mesh)

        self.transform.setRotationX(90)

    def set_position(self, x: int, y: int, radius: int) -> None:
        """
        Set the position and size of the dynamic obstacle.

        Arguments:
            x: Center X position
            y: Center Y position
            radius: Obstacle radius
        """
        if self.position == (x, y, radius):
            return
        self.position = (x, y, radius)

        self.transform.setTranslation(QtGui.QVector3D(x, y, self.mesh.length() / 2))
        self.mesh.setRadius(radius)

__init__(parent) #

Class constructor.

Source code in cogip/entities/dynobstacle.py 
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def __init__(self, parent: Qt3DCore.QEntity):
    """
    Class constructor.
    """
    super().__init__(parent)
    self.position: tuple[int, int, int] = None

    self.mesh = Qt3DExtras.QCylinderMesh()
    self.mesh.setLength(200)
    self.mesh.setRadius(400)
    self.addComponent(self.mesh)

    self.transform.setRotationX(90)

set_position(x, y, radius) #

Set the position and size of the dynamic obstacle.

Parameters:

Name Type Description Default
x int

Center X position

 required
y int

Center Y position

 required
radius int

Obstacle radius

 required
Source code in cogip/entities/dynobstacle.py 
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def set_position(self, x: int, y: int, radius: int) -> None:
    """
    Set the position and size of the dynamic obstacle.

    Arguments:
        x: Center X position
        y: Center Y position
        radius: Obstacle radius
    """
    if self.position == (x, y, radius):
        return
    self.position = (x, y, radius)

    self.transform.setTranslation(QtGui.QVector3D(x, y, self.mesh.length() / 2))
    self.mesh.setRadius(radius)

DynRectObstacleEntity #

Bases: DynBaseObstacleEntity

A dynamic rectangle obstacle detected by the robot.

Represented as a transparent red cube.

Source code in cogip/entities/dynobstacle.py 
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class DynRectObstacleEntity(DynBaseObstacleEntity):
    """
    A dynamic rectangle obstacle detected by the robot.

    Represented as a transparent red cube.
    """

    def __init__(self, parent: Qt3DCore.QEntity):
        """
        Class constructor.
        """
        super().__init__(parent)
        self.size: tuple[int, int] = None
        self.position: tuple[int, int, int] = None

        self.mesh = Qt3DExtras.QCuboidMesh()
        self.mesh.setZExtent(200)
        self.addComponent(self.mesh)

    def set_size(self, length: int, width: int) -> None:
        """
        Set the size of the dynamic obstacle.

        Arguments:
            length: Length
            width: Width
        """
        if self.size == (length, width):
            return

        self.size = (length, width)

        self.mesh.setXExtent(width)
        self.mesh.setYExtent(length)

    def set_position(self, x: int, y: int, rotation: int) -> None:
        """
        Set the position and orientation of the dynamic obstacle.

        Arguments:
            x: X position
            y: Y position
            rotation: Rotation
        """
        if self.position == (x, y, rotation):
            return

        self.position = (x, y, rotation)

        self.transform.setTranslation(QtGui.QVector3D(x, y, self.mesh.zExtent() / 2))
        self.transform.setRotationZ(rotation)

__init__(parent) #

Class constructor.

Source code in cogip/entities/dynobstacle.py 
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def __init__(self, parent: Qt3DCore.QEntity):
    """
    Class constructor.
    """
    super().__init__(parent)
    self.size: tuple[int, int] = None
    self.position: tuple[int, int, int] = None

    self.mesh = Qt3DExtras.QCuboidMesh()
    self.mesh.setZExtent(200)
    self.addComponent(self.mesh)

set_position(x, y, rotation) #

Set the position and orientation of the dynamic obstacle.

Parameters:

Name Type Description Default
x int

X position

 required
y int

Y position

 required
rotation int

Rotation

 required
Source code in cogip/entities/dynobstacle.py 
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def set_position(self, x: int, y: int, rotation: int) -> None:
    """
    Set the position and orientation of the dynamic obstacle.

    Arguments:
        x: X position
        y: Y position
        rotation: Rotation
    """
    if self.position == (x, y, rotation):
        return

    self.position = (x, y, rotation)

    self.transform.setTranslation(QtGui.QVector3D(x, y, self.mesh.zExtent() / 2))
    self.transform.setRotationZ(rotation)

set_size(length, width) #

Set the size of the dynamic obstacle.

Parameters:

Name Type Description Default
length int

Length

 required
width int

Width

 required
Source code in cogip/entities/dynobstacle.py 
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def set_size(self, length: int, width: int) -> None:
    """
    Set the size of the dynamic obstacle.

    Arguments:
        length: Length
        width: Width
    """
    if self.size == (length, width):
        return

    self.size = (length, width)

    self.mesh.setXExtent(width)
    self.mesh.setYExtent(length)