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25 lines
1.1 KiB
Python
25 lines
1.1 KiB
Python
7 months ago
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import numpy as np
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class Joint_Info():
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def __init__(self, xml_element) -> None:
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self.perceptor = xml_element.attrib['perceptor']
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self.effector = xml_element.attrib['effector']
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self.axes = np.array([
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float(xml_element.attrib['xaxis']),
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float(xml_element.attrib['yaxis']),
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float(xml_element.attrib['zaxis'])])
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self.min = int(xml_element.attrib['min'])
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self.max = int(xml_element.attrib['max'])
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self.anchor0_part = xml_element[0].attrib['part']
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self.anchor0_axes = np.array([
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float(xml_element[0].attrib['y']),
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float(xml_element[0].attrib['x']),
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float(xml_element[0].attrib['z'])]) #x and y axes are switched
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self.anchor1_part = xml_element[1].attrib['part']
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self.anchor1_axes_neg = np.array([
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-float(xml_element[1].attrib['y']),
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-float(xml_element[1].attrib['x']),
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-float(xml_element[1].attrib['z'])]) #x and y axes are switched
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