sample
script
HRPCommon.py
Go to the documentation of this file.
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#
2
# Inherit and use this for individual robots.
3
#
4
import
sys
5
6
import
hrp
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8
class
HRPCommon
:
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10
def
__init__
(self, h, p='2809'):
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self.
MotionSys
=
None
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self.
Hostname
= h
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self.
PortNumber
= p
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self.
Initialise
= 0
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def
initialisePlugins
(self):
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count = 0
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for
pn,vn,pc
in
plist:
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if
self.
Initialise
and
1<<count:
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print(
'initialise '
, pn,
' as '
, vn)
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#
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# pCORBA: plugin corba name
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# pFile: plugin shared object file name(without suffix)
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# pClass: plugin class name
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#
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def
loadAndCreatePlugin
(self, pCORBA, pFile, pClass):
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p =
hrp.findPlugin
(pCORBA)
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if
p ==
None
:
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print(
'load and create'
)
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self.
MotionSys
.load(pFile)
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p = self.
MotionSys
.
create
(pFile, pCORBA,
''
)
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if
p !=
None
:
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if
pClass !=
None
:
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narrowedP = hrp.doNarrow(pClass, p)
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else
:
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narrowedP = hrp.doNarrow(Plugin, p)
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#
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return
narrowedP
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else
:
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print(
'plugin '
+pCORBA+
' does not exist'
)
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return
None
HRPCommon.HRPCommon.__init__
def __init__(self, h, p='2809')
Definition:
HRPCommon.py:10
HRPCommon.HRPCommon
Definition:
HRPCommon.py:8
HRPCommon.HRPCommon.Initialise
Initialise
Definition:
HRPCommon.py:17
hrp.findPlugin
def findPlugin(name, rnc=None)
Definition:
hrp.py:52
HRPCommon.HRPCommon.Hostname
Hostname
Definition:
HRPCommon.py:14
HRPCommon.HRPCommon.PortNumber
PortNumber
Definition:
HRPCommon.py:15
create
static BodyCustomizerHandle create(BodyHandle bodyHandle, const char *modelName)
Definition:
bush_customizer.cpp:126
HRPCommon.HRPCommon.loadAndCreatePlugin
def loadAndCreatePlugin(self, pCORBA, pFile, pClass)
Definition:
HRPCommon.py:31
HRPCommon.HRPCommon.initialisePlugins
def initialisePlugins(self)
Definition:
HRPCommon.py:20
HRPCommon.HRPCommon.MotionSys
MotionSys
Definition:
HRPCommon.py:12
openhrp3
Author(s): AIST, General Robotix Inc., Nakamura Lab of Dept. of Mechano Informatics at University of Tokyo
autogenerated on Wed Sep 7 2022 02:51:03