sdurw_simulation module¶

class sdurw_simulation.FrameGrabber(*args, **kwargs)¶

Bases: object

The FrameGrabber abstract interface, can be used to grab images from a specialized source.

getHeight()¶

returns the height of the image

Return type: int
Returns: the height of the image

getImage()¶

returns the image

Return type: Image
Returns: the image

getWidth()¶

returns the width of the image

Return type: int
Returns: the width of the image

grab(frame, state)¶: this function grabs a image from the specialized source and copies it to the FrameGrabber image.

resize(*args)¶

Overload 1:

resizes the image that this frameGrabber use. The colorcode will default to the one that FrameGrabber was initialized with.

Parameters

width (int) – [in] width of image
height (int) – [in] height of image

Overload 2:

resizes the image that this frameGrabber use.

Parameters

width (int) – [in] width of image.
height (int) – [in] height of image.
colorCode (int) – [in] Color encoding of the image.

property thisown¶: The membership flag

class sdurw_simulation.FrameGrabber25D(*args, **kwargs)¶

Bases: object

The FrameGrabber25D abstract interface, can be used to grab images from a specialized source.

getFieldOfViewY()¶

Returns the field of view measured around the y-axis.

Return type: float
Returns: Field of view measured around y-axis in radians

getHeight()¶

returns the height of the image

Return type: int
Returns: the height of the image

getImage()¶

returns the image

Return type: PointCloud
Returns: the image

getMaxDepth()¶

maximum depth that this framegrabber can handle

Return type: float
Returns: maximum depth in meter

getMinDepth()¶

minimum depth that this framegrabber can handle

Return type: float
Returns: minimum depth in meter

getWidth()¶

returns the width of the image

Return type: int
Returns: the height of the image

grab(frame, state)¶

resize(width, height)¶

resizes the image that this frameGrabber use. The colorcode will default to the one that FrameGrabber25D was initialized with.

Parameters

width (int) – [in] width of image
height (int) – [in] height of image

property thisown¶: The membership flag

class sdurw_simulation.FrameGrabber25DPtr(*args)¶

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

deref()¶: The pointer stored in the object.

getDeref()¶: Member access operator.

getFieldOfViewY()¶

Returns the field of view measured around the y-axis.

Return type: float
Returns: Field of view measured around y-axis in radians

getHeight()¶

returns the height of the image

Return type: int
Returns: the height of the image

getImage()¶

returns the image

Return type: PointCloud
Returns: the image

getMaxDepth()¶

maximum depth that this framegrabber can handle

Return type: float
Returns: maximum depth in meter

getMinDepth()¶

minimum depth that this framegrabber can handle

Return type: float
Returns: minimum depth in meter

getWidth()¶

returns the width of the image

Return type: int
Returns: the height of the image

grab(frame, state)¶

isNull()¶: checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()¶: check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

resize(width, height)¶

resizes the image that this frameGrabber use. The colorcode will default to the one that FrameGrabber25D was initialized with.

Parameters

width (int) – [in] width of image
height (int) – [in] height of image

property thisown¶: The membership flag

class sdurw_simulation.FrameGrabberPtr(*args)¶

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

deref()¶: The pointer stored in the object.

getDeref()¶: Member access operator.

getHeight()¶

returns the height of the image

Return type: int
Returns: the height of the image

getImage()¶

returns the image

Return type: Image
Returns: the image

getWidth()¶

returns the width of the image

Return type: int
Returns: the width of the image

grab(frame, state)¶: this function grabs a image from the specialized source and copies it to the FrameGrabber image.

isNull()¶: checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()¶: check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

resize(*args)¶

Overload 1:

resizes the image that this frameGrabber use. The colorcode will default to the one that FrameGrabber was initialized with.

Parameters

width (int) – [in] width of image
height (int) – [in] height of image

Overload 2:

resizes the image that this frameGrabber use.

Parameters

width (int) – [in] width of image.
height (int) – [in] height of image.
colorCode (int) – [in] Color encoding of the image.

property thisown¶: The membership flag

class sdurw_simulation.GLFrameGrabber(width, height, fov, near=0.1, far=10.0)¶

Bases: sdurw_simulation.FrameGrabber

An implementation of the FrameGrabber interface. The GLFrameGrabber grabs images from a OpenGL scene using a simple pinhole camera model.

a framethe opengl rendering to take pictures of the scene.

The most basic parameter of a camera is its Field of view. This can be used as an initial camera model. Field of view can be calculated from the focal length and the size of the CCD typically (1/2, 1/3, 1/4) inch. If a more realistic camera model is required the perspective transform of a specific camera can be added

grab(frame, state)¶: this function grabs a image from the specialized source and copies it to the FrameGrabber image.

init(drawer)¶

initialize the grabber with a scene viewer. This registers the grabber as a camera in the scene and enables rendering.

Parameters: drawer (rw::core::Ptr< SceneViewer >) – [in] the scene viewer
Return type: boolean
Returns: true if initialization succeeded, false otherwise (depends on the capabilities of the SceneViewer).

resize(*args)¶

Overload 1:

resizes the image that this frameGrabber use. The colorcode will default to the one that FrameGrabber was initialized with.

Parameters

width (int) – [in] width of image
height (int) – [in] height of image

Overload 2:

resizes the image that this frameGrabber use.

Parameters

width (int) – [in] width of image.
height (int) – [in] height of image.
colorCode (int) – [in] Color encoding of the image.

property thisown¶: The membership flag

class sdurw_simulation.GLFrameGrabber25D(width, height, fov, mindepth=0.1, maxdepth=10.0)¶

Bases: sdurw_simulation.FrameGrabber25D

An implementation of the FrameGrabber interface. The GLFrameGrabber25D grabs images from a OpenGL scene using a simple pinhole camera model.

a framethe opengl rendering to take pictures of the scene.

The most basic parameter of a camera is its Field of view. This can be used as an initial camera model. Field of view can be calculated from the focal length and the size of the CCD typically (1/2, 1/3, 1/4) inch. If a more realistic camera model is required the perspective transform of a specific camera can be added

getFieldOfViewY()¶

Returns the field of view measured around the y-axis.

Return type: float
Returns: Field of view measured around y-axis in radians

getMaxDepth()¶

maximum depth that this framegrabber can handle

Return type: float
Returns: maximum depth in meter

getMinDepth()¶

minimum depth that this framegrabber can handle

Return type: float
Returns: minimum depth in meter

grab(frame, state)¶

init(drawer)¶

initialize the grabber with a scene viewer. This registers the grabber as a camera in the scene and enables rendering.

Parameters: drawer (rw::core::Ptr< SceneViewer >) – [in] the scene viewer
Return type: boolean
Returns: true if initialization succeeded, false otherwise (depends on the capabilities of the SceneViewer).

setMaxDepth(depth)¶

set the maximum depth that is percieved by this frame grabber. If min and max depth are too far apart the resolution of the depth perception will become bad. Hence keep the range realistic.

Parameters: depth (float) – [in] max depth

setMinDepth(depth)¶

set the minimum depth that is percieved by this frame grabber. If min and max depth are too far apart the resolution of the depth perception will become bad. Hence keep the range realistic.

Parameters: depth (float) – [in] min depth

property thisown¶: The membership flag

class sdurw_simulation.GLFrameGrabber25DPtr(*args)¶

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

asFrameGrabber25DPtr()¶

deref()¶: The pointer stored in the object.

getDeref()¶: Member access operator.

getFieldOfViewY()¶

getHeight()¶

returns the height of the image

Return type: int
Returns: the height of the image

getImage()¶

returns the image

Return type: PointCloud
Returns: the image

getMaxDepth()¶

getMinDepth()¶

getWidth()¶

returns the width of the image

Return type: int
Returns: the height of the image

grab(frame, state)¶

init(drawer)¶

initialize the grabber with a scene viewer. This registers the grabber as a camera in the scene and enables rendering.

Parameters: drawer (rw::core::Ptr< SceneViewer >) – [in] the scene viewer
Return type: boolean
Returns: true if initialization succeeded, false otherwise (depends on the capabilities of the SceneViewer).

isNull()¶: checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()¶: check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

resize(width, height)¶

resizes the image that this frameGrabber use. The colorcode will default to the one that FrameGrabber25D was initialized with.

Parameters

width (int) – [in] width of image
height (int) – [in] height of image

setMaxDepth(depth)¶

set the maximum depth that is percieved by this frame grabber. If min and max depth are too far apart the resolution of the depth perception will become bad. Hence keep the range realistic.

Parameters: depth (float) – [in] max depth

setMinDepth(depth)¶

set the minimum depth that is percieved by this frame grabber. If min and max depth are too far apart the resolution of the depth perception will become bad. Hence keep the range realistic.

Parameters: depth (float) – [in] min depth

property thisown¶: The membership flag

class sdurw_simulation.GLFrameGrabberPtr(*args)¶

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

asFrameGrabberPtr()¶

deref()¶: The pointer stored in the object.

getDeref()¶: Member access operator.

getHeight()¶

returns the height of the image

Return type: int
Returns: the height of the image

getImage()¶

returns the image

Return type: Image
Returns: the image

getWidth()¶

returns the width of the image

Return type: int
Returns: the width of the image

grab(frame, state)¶

init(drawer)¶

initialize the grabber with a scene viewer. This registers the grabber as a camera in the scene and enables rendering.

Parameters: drawer (rw::core::Ptr< SceneViewer >) – [in] the scene viewer
Return type: boolean
Returns: true if initialization succeeded, false otherwise (depends on the capabilities of the SceneViewer).

isNull()¶: checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()¶: check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

resize(*args)¶

property thisown¶: The membership flag

class sdurw_simulation.SimulatedCamera(*args)¶

Bases: sdurw_simulation.SimulatedSensor

The SimulatedCamera class makes it posible to use virtual camera sensors by using different framegrapper implementations.

The SimulatedCamera implements the camera interface though the setting of framerate has no meaning to the virtual camera since no timing is done in this implementation.

acquire()¶

getCameraSensor()¶

Get the camera sensor.

Return type: rw::core::Ptr< rw::sensor::Camera >
Returns: the sensor.

getFrameRate()¶

getHeight()¶

getImage()¶

getSensor()¶

getWidth()¶

initialize()¶

isImageReady()¶

reset(state)¶

Resets the state of the SimulatedSensor to that of state

Parameters: state (State) – [in] the state that the sensor is reset too.

setFrameRate(framerate)¶

start()¶

stop()¶

property thisown¶: The membership flag

update(info, state)¶

steps the the SimulatedSensor with time dt and saves any state changes in state.

Parameters

info (UpdateInfo) – [in] update information related to the time step.
state (State) – [out] changes of the SimulatedSensor is saved in state.

class sdurw_simulation.SimulatedCameraPtr(*args)¶

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

acquire()¶

deref()¶: The pointer stored in the object.

getCameraSensor()¶

Get the camera sensor.

Return type: rw::core::Ptr< rw::sensor::Camera >
Returns: the sensor.

getDeref()¶: Member access operator.

getFrame()¶

get frame that this sensor is attached to.

Return type: Frame
Returns: frame

getFrameRate()¶

getHeight()¶

getImage()¶

getName()¶: get name of this simulated sensor

getSensor()¶

getSensorHandle(sim)¶

get a handle to controlling an instance of the simulated sensor in a specific simulator

Parameters: sim (rw::core::Ptr< Simulator >) – [in] the simulator in which the handle is active

getSensorModel()¶: get the sensor model of this simulated sensor.

getWidth()¶

initialize()¶

isImageReady()¶

isNull()¶: checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()¶: check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

reset(state)¶

setFrameRate(framerate)¶

start()¶

stop()¶

property thisown¶: The membership flag

update(info, state)¶

class sdurw_simulation.SimulatedController(*args, **kwargs)¶

Bases: object

interface of a simulated controller

getControllerHandle(sim)¶

get the controller handle eg. statefull handle, associated with this simulated controller

Return type: rw::core::Ptr< Controller >
Returns: controller handle

getControllerName()¶

get the name of this controller

Return type: string
Returns: name of this controller

isEnabled()¶

true if this controller is enabled

Return type: boolean
Returns: true if this controller is enabled

reset(state)¶

reset the controller to the applied state

Parameters: state (State) – [in] the state to reset to

setEnabled(enabled)¶

disable or enable this controller

Parameters: enabled (boolean) –

property thisown¶: The membership flag

update(info, state)¶

updates/steps the controller with time step dt. It will update the state state accordingly

Parameters

info (UpdateInfo) – [in] update information related to the time step.
state (State) – [in/out] the current state

class sdurw_simulation.SimulatedControllerPtr(*args)¶

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

deref()¶: The pointer stored in the object.

getControllerHandle(sim)¶

get the controller handle eg. statefull handle, associated with this simulated controller

Return type: rw::core::Ptr< Controller >
Returns: controller handle

getControllerName()¶

get the name of this controller

Return type: string
Returns: name of this controller

getDeref()¶: Member access operator.

isEnabled()¶

true if this controller is enabled

Return type: boolean
Returns: true if this controller is enabled

isNull()¶: checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()¶: check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

reset(state)¶

reset the controller to the applied state

Parameters: state (State) – [in] the state to reset to

setEnabled(enabled)¶

disable or enable this controller

Parameters: enabled (boolean) –

property thisown¶: The membership flag

update(info, state)¶

updates/steps the controller with time step dt. It will update the state state accordingly

Parameters

info (UpdateInfo) – [in] update information related to the time step.
state (State) – [in/out] the current state

class sdurw_simulation.SimulatedControllerPtrVector(*args)¶

Bases: object

append(x)¶

assign(n, x)¶

back()¶

begin()¶

capacity()¶

clear()¶

empty()¶

end()¶

erase(*args)¶

front()¶

get_allocator()¶

insert(*args)¶

iterator()¶

pop()¶

pop_back()¶

push_back(x)¶

rbegin()¶

rend()¶

reserve(n)¶

resize(*args)¶

size()¶

swap(v)¶

property thisown¶: The membership flag

class sdurw_simulation.SimulatedScanner25D(*args)¶

Bases: sdurw_simulation.SimulatedSensor

a simulated range scanner for 2.5D images, that is basically pointclouds without color information.

acquire()¶

close()¶

getFrameRate()¶

getScan()¶

getScanner25DSensor(instance)¶: get instance of scanner

getSensorHandle(instance)¶

get a handle to controlling an instance of the simulated sensor in a specific simulator

Parameters: instance (rw::core::Ptr< Simulator >) – [in] the simulator in which the handle is active

isOpen()¶

isScanReady()¶

open()¶

reset(state)¶

Resets the state of the SimulatedSensor to that of state

Parameters: state (State) – [in] the state that the sensor is reset too.

setFrameRate(rate)¶

set the framerate in frames per sec.

Parameters: rate (float) – [in] frames per sec

property thisown¶: The membership flag

update(info, state)¶

steps the the SimulatedSensor with time dt and saves any state changes in state.

Parameters

info (UpdateInfo) – [in] update information related to the time step.
state (State) – [out] changes of the SimulatedSensor is saved in state.

class sdurw_simulation.SimulatedScanner25DPtr(*args)¶

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

acquire()¶

close()¶

deref()¶: The pointer stored in the object.

getDeref()¶: Member access operator.

getFrame()¶

get frame that this sensor is attached to.

Return type: Frame
Returns: frame

getFrameRate()¶

getName()¶: get name of this simulated sensor

getScan()¶

getScanner25DSensor(instance)¶: get instance of scanner

getSensorHandle(instance)¶

get a handle to controlling an instance of the simulated sensor in a specific simulator

Parameters: instance (rw::core::Ptr< Simulator >) – [in] the simulator in which the handle is active

getSensorModel()¶: get the sensor model of this simulated sensor.

isNull()¶: checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isOpen()¶

isScanReady()¶

isShared()¶: check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

open()¶

reset(state)¶

setFrameRate(rate)¶

set the framerate in frames per sec.

Parameters: rate (float) – [in] frames per sec

property thisown¶: The membership flag

update(info, state)¶

class sdurw_simulation.SimulatedScanner2D(*args)¶

Bases: sdurw_simulation.SimulatedSensor

Simulated scanner in 2D.

acquire()¶

close()¶

getAngularRange()¶

getFrameRate()¶

getMeasurementCount()¶

getScan()¶

getScanner2DSensor(instance)¶

returns a handle to what represents a statefull interface. The handle will be locked to the simulator

Return type: rw::core::Ptr< rw::sensor::Scanner2D >
Returns: Scnner2D handle.

isOpen()¶

isScanReady()¶

open()¶

reset(state)¶

Resets the state of the SimulatedSensor to that of state

Parameters: state (State) – [in] the state that the sensor is reset too.

setFrameRate(rate)¶

set the framerate in frames per sec.

Parameters: rate (float) – [in] frames per sec

property thisown¶: The membership flag

update(info, state)¶

steps the the SimulatedSensor with time dt and saves any state changes in state.

Parameters

info (UpdateInfo) – [in] update information related to the time step.
state (State) – [out] changes of the SimulatedSensor is saved in state.

class sdurw_simulation.SimulatedScanner2DPtr(*args)¶

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

acquire()¶

close()¶

deref()¶: The pointer stored in the object.

getAngularRange()¶

getDeref()¶: Member access operator.

getFrame()¶

get frame that this sensor is attached to.

Return type: Frame
Returns: frame

getFrameRate()¶

getMeasurementCount()¶

getName()¶: get name of this simulated sensor

getScan()¶

getScanner2DSensor(instance)¶

returns a handle to what represents a statefull interface. The handle will be locked to the simulator

Return type: rw::core::Ptr< rw::sensor::Scanner2D >
Returns: Scnner2D handle.

getSensorHandle(sim)¶

get a handle to controlling an instance of the simulated sensor in a specific simulator

Parameters: sim (rw::core::Ptr< Simulator >) – [in] the simulator in which the handle is active

getSensorModel()¶: get the sensor model of this simulated sensor.

isNull()¶: checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isOpen()¶

isScanReady()¶

isShared()¶: check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

open()¶

reset(state)¶

setFrameRate(rate)¶

set the framerate in frames per sec.

Parameters: rate (float) – [in] frames per sec

property thisown¶: The membership flag

update(info, state)¶

class sdurw_simulation.SimulatedSensor(*args, **kwargs)¶

Bases: object

simulated sensor interface

getFrame()¶

get frame that this sensor is attached to.

Return type: Frame
Returns: frame

getName()¶: get name of this simulated sensor

getSensorHandle(sim)¶

get a handle to controlling an instance of the simulated sensor in a specific simulator

Parameters: sim (rw::core::Ptr< Simulator >) – [in] the simulator in which the handle is active

getSensorModel()¶: get the sensor model of this simulated sensor.

reset(state)¶

Resets the state of the SimulatedSensor to that of state

Parameters: state (State) – [in] the state that the sensor is reset too.

property thisown¶: The membership flag

update(info, state)¶

steps the the SimulatedSensor with time dt and saves any state changes in state.

Parameters

info (UpdateInfo) – [in] update information related to the time step.
state (State) – [out] changes of the SimulatedSensor is saved in state.

class sdurw_simulation.SimulatedSensorPtr(*args)¶

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

deref()¶: The pointer stored in the object.

getDeref()¶: Member access operator.

getFrame()¶

get frame that this sensor is attached to.

Return type: Frame
Returns: frame

getName()¶: get name of this simulated sensor

getSensorHandle(sim)¶

get a handle to controlling an instance of the simulated sensor in a specific simulator

Parameters: sim (rw::core::Ptr< Simulator >) – [in] the simulator in which the handle is active

getSensorModel()¶: get the sensor model of this simulated sensor.

isNull()¶: checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()¶: check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

reset(state)¶

Resets the state of the SimulatedSensor to that of state

Parameters: state (State) – [in] the state that the sensor is reset too.

property thisown¶: The membership flag

update(info, state)¶

steps the the SimulatedSensor with time dt and saves any state changes in state.

Parameters

info (UpdateInfo) – [in] update information related to the time step.
state (State) – [out] changes of the SimulatedSensor is saved in state.

class sdurw_simulation.SimulatedSensorPtrVector(*args)¶

Bases: object

append(x)¶

assign(n, x)¶

back()¶

begin()¶

capacity()¶

clear()¶

empty()¶

end()¶

erase(*args)¶

front()¶

get_allocator()¶

insert(*args)¶

iterator()¶

pop()¶

pop_back()¶

push_back(x)¶

rbegin()¶

rend()¶

reserve(n)¶

resize(*args)¶

size()¶

swap(v)¶

property thisown¶: The membership flag

class sdurw_simulation.Simulator(*args, **kwargs)¶

Bases: object

getPropertyMap()¶

getState()¶

getTime()¶

init(state)¶

reset(state)¶

setEnabled(frame, enabled)¶

step(dt)¶

property thisown¶: The membership flag

class sdurw_simulation.SimulatorPtr(*args)¶

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

deref()¶: The pointer stored in the object.

getDeref()¶: Member access operator.

getPropertyMap()¶

getState()¶

getTime()¶

init(state)¶

isNull()¶: checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()¶: check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

reset(state)¶

setEnabled(frame, enabled)¶

step(dt)¶

property thisown¶: The membership flag

class sdurw_simulation.SwigPyIterator(*args, **kwargs)¶

Bases: object

advance(n)¶

copy()¶

decr(n=1)¶

distance(x)¶

equal(x)¶

incr(n=1)¶

next()¶

previous()¶

property thisown¶: The membership flag

value()¶

class sdurw_simulation.UpdateInfo(*args)¶

Bases: object

property dt¶

property dt_prev¶

property rollback¶

property thisown¶: The membership flag

property time¶

sdurw_simulation.ownedPtr(*args)¶

Overload 1: