# simu - Robot simulation. {{{ # # Copyright (C) 2013 Nicolas Schodet # # APBTeam: # Web: http://apbteam.org/ # Email: team AT apbteam DOT org # # This program is free software; you can redistribute it and/or modify # it under the terms of the GNU General Public License as published by # the Free Software Foundation; either version 2 of the License, or # (at your option) any later version. # # This program is distributed in the hope that it will be useful, # but WITHOUT ANY WARRANTY; without even the implied warranty of # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the # GNU General Public License for more details. # # You should have received a copy of the GNU General Public License # along with this program; if not, write to the Free Software # Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. # # }}} """APBirthday gifts arm model.""" from utils.observable import Observable from simu.utils.vector import vector from math import pi from simu.robots.apbirthday.model import side class GiftsArm (Observable): def __init__ (self, table, robot_position, arm_cyl): Observable.__init__ (self) self.table = table self.robot_position = robot_position self.arm_cyl = arm_cyl self.arm_cyl.register (self.__arm_notified) def __arm_notified (self): if self.arm_cyl.pos > .9: push_point = (vector (self.robot_position.pos) + vector.polar (self.robot_position.angle - pi / 2, side + 100) - vector.polar (self.robot_position.angle, 100)) gift = self.table.nearest (push_point, level = 0, max = 150) if gift is not None and hasattr (gift, 'state'): gift.state = True gift.notify () self.notify ()