def simxReadVisionSensor(clientID, sensorHandle, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
detectionState = ct.c_ubyte()
auxValues = ct.POINTER(ct.c_float)()
auxValuesCount = ct.POINTER(ct.c_int)()
ret = c_ReadVisionSensor(clientID, sensorHandle, ct.byref(detectionState), ct.byref(auxValues), ct.byref(auxValuesCount), operationMode)
auxValues2 = []
if ret == 0:
s = 0
for i in range(auxValuesCount[0]):
auxValues2.append(auxValues[s:s+auxValuesCount[i+1]])
s += auxValuesCount[i+1]
#free C buffers
c_ReleaseBuffer(auxValues)
c_ReleaseBuffer(auxValuesCount)
return ret, bool(detectionState.value!=0), auxValues2
python类c_float()的实例源码
def simxGetVisionSensorDepthBuffer(clientID, sensorHandle, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
c_buffer = ct.POINTER(ct.c_float)()
resolution = (ct.c_int*2)()
ret = c_GetVisionSensorDepthBuffer(clientID, sensorHandle, resolution, ct.byref(c_buffer), operationMode)
reso = []
buffer = []
if (ret == 0):
buffer = [None]*resolution[0]*resolution[1]
for i in range(resolution[0] * resolution[1]):
buffer[i] = c_buffer[i]
for i in range(2):
reso.append(resolution[i])
return ret, reso, buffer
def simxReadProximitySensor(clientID, sensorHandle, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
detectionState = ct.c_ubyte()
detectedObjectHandle = ct.c_int()
detectedPoint = (ct.c_float*3)()
detectedSurfaceNormalVector = (ct.c_float*3)()
ret = c_ReadProximitySensor(clientID, sensorHandle, ct.byref(detectionState), detectedPoint, ct.byref(detectedObjectHandle), detectedSurfaceNormalVector, operationMode)
arr1 = []
for i in range(3):
arr1.append(detectedPoint[i])
arr2 = []
for i in range(3):
arr2.append(detectedSurfaceNormalVector[i])
return ret, bool(detectionState.value!=0), arr1, detectedObjectHandle.value, arr2
def simxAuxiliaryConsoleOpen(clientID, title, maxLines, mode, position, size, textColor, backgroundColor, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
consoleHandle = ct.c_int()
if (sys.version_info[0] == 3) and (type(title) is str):
title=title.encode('utf-8')
if position != None:
c_position = (ct.c_int*2)(*position)
else:
c_position = None
if size != None:
c_size = (ct.c_int*2)(*size)
else:
c_size = None
if textColor != None:
c_textColor = (ct.c_float*3)(*textColor)
else:
c_textColor = None
if backgroundColor != None:
c_backgroundColor = (ct.c_float*3)(*backgroundColor)
else:
c_backgroundColor = None
return c_AuxiliaryConsoleOpen(clientID, title, maxLines, mode, c_position, c_size, c_textColor, c_backgroundColor, ct.byref(consoleHandle), operationMode), consoleHandle.value
def simxDisplayDialog(clientID, titleText, mainText, dialogType, initialText, titleColors, dialogColors, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
if titleColors != None:
c_titleColors = (ct.c_float*6)(*titleColors)
else:
c_titleColors = None
if dialogColors != None:
c_dialogColors = (ct.c_float*6)(*dialogColors)
else:
c_dialogColors = None
c_dialogHandle = ct.c_int()
c_uiHandle = ct.c_int()
if sys.version_info[0] == 3:
if type(titleText) is str:
titleText=titleText.encode('utf-8')
if type(mainText) is str:
mainText=mainText.encode('utf-8')
if type(initialText) is str:
initialText=initialText.encode('utf-8')
return c_DisplayDialog(clientID, titleText, mainText, dialogType, initialText, c_titleColors, c_dialogColors, ct.byref(c_dialogHandle), ct.byref(c_uiHandle), operationMode), c_dialogHandle.value, c_uiHandle.value
def simxReadVisionSensor(clientID, sensorHandle, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
detectionState = ct.c_ubyte()
auxValues = ct.POINTER(ct.c_float)()
auxValuesCount = ct.POINTER(ct.c_int)()
ret = c_ReadVisionSensor(clientID, sensorHandle, ct.byref(detectionState), ct.byref(auxValues), ct.byref(auxValuesCount), operationMode)
auxValues2 = []
if ret == 0:
s = 0
for i in range(auxValuesCount[0]):
auxValues2.append(auxValues[s:s+auxValuesCount[i+1]])
s += auxValuesCount[i+1]
#free C buffers
c_ReleaseBuffer(auxValues)
c_ReleaseBuffer(auxValuesCount)
return ret, bool(detectionState.value!=0), auxValues2
def simxGetVisionSensorDepthBuffer(clientID, sensorHandle, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
c_buffer = ct.POINTER(ct.c_float)()
resolution = (ct.c_int*2)()
ret = c_GetVisionSensorDepthBuffer(clientID, sensorHandle, resolution, ct.byref(c_buffer), operationMode)
reso = []
buffer = []
if (ret == 0):
buffer = [None]*resolution[0]*resolution[1]
for i in range(resolution[0] * resolution[1]):
buffer[i] = c_buffer[i]
for i in range(2):
reso.append(resolution[i])
return ret, reso, buffer
def simxReadProximitySensor(clientID, sensorHandle, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
detectionState = ct.c_ubyte()
detectedObjectHandle = ct.c_int()
detectedPoint = (ct.c_float*3)()
detectedSurfaceNormalVector = (ct.c_float*3)()
ret = c_ReadProximitySensor(clientID, sensorHandle, ct.byref(detectionState), detectedPoint, ct.byref(detectedObjectHandle), detectedSurfaceNormalVector, operationMode)
arr1 = []
for i in range(3):
arr1.append(detectedPoint[i])
arr2 = []
for i in range(3):
arr2.append(detectedSurfaceNormalVector[i])
return ret, bool(detectionState.value!=0), arr1, detectedObjectHandle.value, arr2
def simxAuxiliaryConsoleOpen(clientID, title, maxLines, mode, position, size, textColor, backgroundColor, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
consoleHandle = ct.c_int()
if (sys.version_info[0] == 3) and (type(title) is str):
title=title.encode('utf-8')
if position != None:
c_position = (ct.c_int*2)(*position)
else:
c_position = None
if size != None:
c_size = (ct.c_int*2)(*size)
else:
c_size = None
if textColor != None:
c_textColor = (ct.c_float*3)(*textColor)
else:
c_textColor = None
if backgroundColor != None:
c_backgroundColor = (ct.c_float*3)(*backgroundColor)
else:
c_backgroundColor = None
return c_AuxiliaryConsoleOpen(clientID, title, maxLines, mode, c_position, c_size, c_textColor, c_backgroundColor, ct.byref(consoleHandle), operationMode), consoleHandle.value
def simxDisplayDialog(clientID, titleText, mainText, dialogType, initialText, titleColors, dialogColors, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
if titleColors != None:
c_titleColors = (ct.c_float*6)(*titleColors)
else:
c_titleColors = None
if dialogColors != None:
c_dialogColors = (ct.c_float*6)(*dialogColors)
else:
c_dialogColors = None
c_dialogHandle = ct.c_int()
c_uiHandle = ct.c_int()
if sys.version_info[0] == 3:
if type(titleText) is str:
titleText=titleText.encode('utf-8')
if type(mainText) is str:
mainText=mainText.encode('utf-8')
if type(initialText) is str:
initialText=initialText.encode('utf-8')
return c_DisplayDialog(clientID, titleText, mainText, dialogType, initialText, c_titleColors, c_dialogColors, ct.byref(c_dialogHandle), ct.byref(c_uiHandle), operationMode), c_dialogHandle.value, c_uiHandle.value
def simxGetFloatSignal(clientID, signalName, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
signalValue = ct.c_float()
if (sys.version_info[0] == 3) and (type(signalName) is str):
signalName=signalName.encode('utf-8')
return c_GetFloatSignal(clientID, signalName, ct.byref(signalValue), operationMode), signalValue.value
def simxReadVisionSensor(clientID, sensorHandle, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
detectionState = ct.c_ubyte()
auxValues = ct.POINTER(ct.c_float)()
auxValuesCount = ct.POINTER(ct.c_int)()
ret = c_ReadVisionSensor(clientID, sensorHandle, ct.byref(detectionState), ct.byref(auxValues), ct.byref(auxValuesCount), operationMode)
auxValues2 = []
if ret == 0:
s = 0
for i in range(auxValuesCount[0]):
auxValues2.append(auxValues[s:s+auxValuesCount[i+1]])
s += auxValuesCount[i+1]
#free C buffers
c_ReleaseBuffer(auxValues)
c_ReleaseBuffer(auxValuesCount)
return ret, bool(detectionState.value!=0), auxValues2
def simxGetVisionSensorDepthBuffer(clientID, sensorHandle, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
c_buffer = ct.POINTER(ct.c_float)()
resolution = (ct.c_int*2)()
ret = c_GetVisionSensorDepthBuffer(clientID, sensorHandle, resolution, ct.byref(c_buffer), operationMode)
reso = []
buffer = []
if (ret == 0):
buffer = [None]*resolution[0]*resolution[1]
for i in range(resolution[0] * resolution[1]):
buffer[i] = c_buffer[i]
for i in range(2):
reso.append(resolution[i])
return ret, reso, buffer
def simxReadProximitySensor(clientID, sensorHandle, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
detectionState = ct.c_ubyte()
detectedObjectHandle = ct.c_int()
detectedPoint = (ct.c_float*3)()
detectedSurfaceNormalVector = (ct.c_float*3)()
ret = c_ReadProximitySensor(clientID, sensorHandle, ct.byref(detectionState), detectedPoint, ct.byref(detectedObjectHandle), detectedSurfaceNormalVector, operationMode)
arr1 = []
for i in range(3):
arr1.append(detectedPoint[i])
arr2 = []
for i in range(3):
arr2.append(detectedSurfaceNormalVector[i])
return ret, bool(detectionState.value!=0), arr1, detectedObjectHandle.value, arr2
def simxAuxiliaryConsoleOpen(clientID, title, maxLines, mode, position, size, textColor, backgroundColor, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
consoleHandle = ct.c_int()
if (sys.version_info[0] == 3) and (type(title) is str):
title=title.encode('utf-8')
if position != None:
c_position = (ct.c_int*2)(*position)
else:
c_position = None
if size != None:
c_size = (ct.c_int*2)(*size)
else:
c_size = None
if textColor != None:
c_textColor = (ct.c_float*3)(*textColor)
else:
c_textColor = None
if backgroundColor != None:
c_backgroundColor = (ct.c_float*3)(*backgroundColor)
else:
c_backgroundColor = None
return c_AuxiliaryConsoleOpen(clientID, title, maxLines, mode, c_position, c_size, c_textColor, c_backgroundColor, ct.byref(consoleHandle), operationMode), consoleHandle.value
def simxDisplayDialog(clientID, titleText, mainText, dialogType, initialText, titleColors, dialogColors, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
if titleColors != None:
c_titleColors = (ct.c_float*6)(*titleColors)
else:
c_titleColors = None
if dialogColors != None:
c_dialogColors = (ct.c_float*6)(*dialogColors)
else:
c_dialogColors = None
c_dialogHandle = ct.c_int()
c_uiHandle = ct.c_int()
if sys.version_info[0] == 3:
if type(titleText) is str:
titleText=titleText.encode('utf-8')
if type(mainText) is str:
mainText=mainText.encode('utf-8')
if type(initialText) is str:
initialText=initialText.encode('utf-8')
return c_DisplayDialog(clientID, titleText, mainText, dialogType, initialText, c_titleColors, c_dialogColors, ct.byref(c_dialogHandle), ct.byref(c_uiHandle), operationMode), c_dialogHandle.value, c_uiHandle.value
def _get_projection_matrix(window_size, view_position, view_zoom,
view_aperture, initial_view_aperture_x):
"""Retrieve the projection matrix."""
scale = 2.0 * view_zoom / initial_view_aperture_x
return (ctypes.c_float * 16)(
scale,
0.0,
0.0,
0.0,
0.0,
scale * window_size.x / window_size.y,
0.0,
0.0,
0.0,
0.0,
1.0,
0.0,
-2.0 * view_position.x / view_aperture.x,
-2.0 * view_position.y / view_aperture.y,
0.0,
1.0)
def make_array(shape=(1,), dtype=np.float32, shared=False, fill_val=None):
np_type_to_ctype = {np.float32: ctypes.c_float,
np.float64: ctypes.c_double,
np.bool: ctypes.c_bool,
np.uint8: ctypes.c_ubyte,
np.uint64: ctypes.c_ulonglong}
if not shared:
np_arr = np.empty(shape, dtype=dtype)
else:
numel = np.prod(shape)
arr_ctypes = sharedctypes.RawArray(np_type_to_ctype[dtype], numel)
np_arr = np.frombuffer(arr_ctypes, dtype=dtype, count=numel)
np_arr.shape = shape
if not fill_val is None:
np_arr[...] = fill_val
return np_arr
def simxGetJointPosition(clientID, jointHandle, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
position = ct.c_float()
return c_GetJointPosition(clientID, jointHandle, ct.byref(position), operationMode), position.value
def simxGetJointMatrix(clientID, jointHandle, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
matrix = (ct.c_float*12)()
ret = c_GetJointMatrix(clientID, jointHandle, matrix, operationMode)
arr = []
for i in range(12):
arr.append(matrix[i])
return ret, arr
def simxSetSphericalJointMatrix(clientID, jointHandle, matrix, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
matrix = (ct.c_float*12)(*matrix)
return c_SetSphericalJointMatrix(clientID, jointHandle, matrix, operationMode)
def simxJointGetForce(clientID, jointHandle, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
force = ct.c_float()
return c_GetJointForce(clientID, jointHandle, ct.byref(force), operationMode), force.value
def simxGetJointForce(clientID, jointHandle, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
force = ct.c_float()
return c_GetJointForce(clientID, jointHandle, ct.byref(force), operationMode), force.value
def simxGetObjectOrientation(clientID, objectHandle, relativeToObjectHandle, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
eulerAngles = (ct.c_float*3)()
ret = c_GetObjectOrientation(clientID, objectHandle, relativeToObjectHandle, eulerAngles, operationMode)
arr = []
for i in range(3):
arr.append(eulerAngles[i])
return ret, arr
def simxSetObjectOrientation(clientID, objectHandle, relativeToObjectHandle, eulerAngles, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
angles = (ct.c_float*3)(*eulerAngles)
return c_SetObjectOrientation(clientID, objectHandle, relativeToObjectHandle, angles, operationMode)
def simxSetObjectPosition(clientID, objectHandle, relativeToObjectHandle, position, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
c_position = (ct.c_float*3)(*position)
return c_SetObjectPosition(clientID, objectHandle, relativeToObjectHandle, c_position, operationMode)
def simxGetArrayParameter(clientID, paramIdentifier, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
paramValues = (ct.c_float*3)()
ret = c_GetArrayParameter(clientID, paramIdentifier, paramValues, operationMode)
arr = []
for i in range(3):
arr.append(paramValues[i])
return ret, arr
def simxSetArrayParameter(clientID, paramIdentifier, paramValues, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
c_paramValues = (ct.c_float*3)(*paramValues)
return c_SetArrayParameter(clientID, paramIdentifier, c_paramValues, operationMode)
def simxGetFloatingParameter(clientID, paramIdentifier, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
paramValue = ct.c_float()
return c_GetFloatingParameter(clientID, paramIdentifier, ct.byref(paramValue), operationMode), paramValue.value
def simxGetFloatSignal(clientID, signalName, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
signalValue = ct.c_float()
if (sys.version_info[0] == 3) and (type(signalName) is str):
signalName=signalName.encode('utf-8')
return c_GetFloatSignal(clientID, signalName, ct.byref(signalValue), operationMode), signalValue.value
