# Copyright 2022 IMCL, Department of Computing
# Department of Computing, Hong Kong Polytechnic University
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
import os
import pybullet as p
import numpy as np
from maniware.mani_level.component.baseChassis import BaseChassis
currentdir = os.path.dirname(os.path.realpath(__file__))
parentdir = os.path.dirname(currentdir)
from ..controller.chassisController import MecanumController, DifferentialController
[docs]class Mecanum(BaseChassis):
def __init__(self, env, pose):
super().__init__(env, pose)
self._set_controller(MecanumController())
self.fix_flag = False
self.constrain_ground = None
self.pose = pose
self.lateral_velocity = 0.
self.linear_velocity = 0.
self.reached = False
def _createBody(self):
path = os.path.join(os.path.dirname(__file__), "../../assets/dingo/dingo-o.urdf")
return p.loadURDF(path, self.pose[0], self.pose[1], useFixedBase=0)
[docs] def fixed(self, pose=None):
if not self.fix_flag:
self.fix_flag = True
if pose is None:
position = p.getBasePositionAndOrientation(self.id, physicsClientId=self.env.client)[0]
self.constrain_ground = p.createConstraint(self.env.planeID, -1, self.id, -1, p.JOINT_FIXED, None, position, [0., 0., 0.], self.init_pose[1])
else:
self.constrain_ground = p.createConstraint(self.env.planeID, -1, self.id, -1, p.JOINT_FIXED, None, pose[0], [0., 0., 0.], pose[1])
[docs] def moved(self):
if self.fix_flag:
self.fix_flag = False
if self.constrain_ground:
p.removeConstraint(self.constrain_ground, physicsClientId=self.env.client)
self.constrain_ground = None
[docs] def step(self):
self.update()
self.reached = self.move_to(self.target_position, self.target_orientation)
[docs] def get_state(self):
self.state = [self.position, self.orientation, self.linear_velocity, self.lateral_velocity]
return self.state
[docs] def move_to(self, position, orientation):
vx, vy, w, flag = self.controller.control_position(np.array(self.position), self.orientation, np.array(position), orientation)
p.resetBaseVelocity(self.id, linearVelocity=[vx, vy, 0.], angularVelocity=[0., 0., w])
# ?
self.linear_velocity = vx * np.cos(self.orientation) + vy * np.sin(self.orientation)
self.lateral_velocity = vy * np.cos(self.orientation) - vx * np.sin(self.orientation)
if flag:
return True
else:
return False
class Differential(BaseChassis):
def __init__(self, env, pose):
super().__init__(env, pose)
self._set_controller(DifferentialController)
self.linear_velocity = 0.
self.angular_velocity = 0.
def _createBody(self):
pass
def step(self):
self.update()
self.reached = self.move_to(self.target_position, self.target_orientation)
def get_state(self):
self.state = [self.position, self.orientation, self.linear_velocity, self.angular_velocity]
return self.state
def move_to(self, position, orientation):
return False