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-rw-r--r--host/simu/robots/aquajim/model/sorter.py2
-rw-r--r--host/simu/robots/aquajim/view/robot.py2
-rw-r--r--host/simu/robots/giboulee/view/robot.py2
-rw-r--r--host/simu/robots/marcel/model/loader.py4
-rw-r--r--host/simu/robots/marcel/view/loader.py2
-rw-r--r--host/simu/robots/marcel/view/robot.py2
6 files changed, 7 insertions, 7 deletions
diff --git a/host/simu/robots/aquajim/model/sorter.py b/host/simu/robots/aquajim/model/sorter.py
index e7b69761..93ff5e2a 100644
--- a/host/simu/robots/aquajim/model/sorter.py
+++ b/host/simu/robots/aquajim/model/sorter.py
@@ -58,8 +58,8 @@ class Sorter (Observable):
for i in self.into:
if i.pos is None:
return None
- m.rotate (i.angle)
m.translate (i.pos)
+ m.rotate (i.angle)
return m.apply (pos)
def __arm_motor_notified (self):
diff --git a/host/simu/robots/aquajim/view/robot.py b/host/simu/robots/aquajim/view/robot.py
index ad613bba..aefe2170 100644
--- a/host/simu/robots/aquajim/view/robot.py
+++ b/host/simu/robots/aquajim/view/robot.py
@@ -42,8 +42,8 @@ class Robot (simu.inter.drawable.Drawable):
"""Draw the robot."""
self.reset ()
if self.pos is not None:
- self.trans_rotate (self.angle)
self.trans_translate (self.pos)
+ self.trans_rotate (self.angle)
# Draw robot body.
self.draw_polygon ((150, 155), (-90, 155), (-150, 70),
(-150, -70), (-90, -155), (150, -155))
diff --git a/host/simu/robots/giboulee/view/robot.py b/host/simu/robots/giboulee/view/robot.py
index ab1ffc6d..42ebe6fb 100644
--- a/host/simu/robots/giboulee/view/robot.py
+++ b/host/simu/robots/giboulee/view/robot.py
@@ -42,8 +42,8 @@ class Robot (simu.inter.drawable.Drawable):
"""Draw the robot."""
self.reset ()
if self.pos is not None:
- self.trans_rotate (self.angle)
self.trans_translate (self.pos)
+ self.trans_rotate (self.angle)
# Draw robot body.
self.draw_polygon ((115, 30), (170, 85), (150, 127), (130, 145),
(-25, 200), (-70, 200), (-70, -200), (-25, -200),
diff --git a/host/simu/robots/marcel/model/loader.py b/host/simu/robots/marcel/model/loader.py
index 0270ce79..ae1caa7d 100644
--- a/host/simu/robots/marcel/model/loader.py
+++ b/host/simu/robots/marcel/model/loader.py
@@ -159,8 +159,8 @@ class Loader (Observable):
# If gate is high, drop elements.
if self.load and self.gate_angle > self.GATE_STROKE / 2:
m = TransMatrix ()
- m.rotate (self.robot_position.angle)
m.translate (self.robot_position.pos)
+ m.rotate (self.robot_position.angle)
pos = m.apply ((-250, 0))
for e in self.load:
e.pos = pos
@@ -177,9 +177,9 @@ class Loader (Observable):
return elements
# Matrix to transform an obstacle position into robot coordinates.
m = TransMatrix ()
+ m.rotate (-self.robot_position.angle)
m.translate ((-self.robot_position.pos[0],
-self.robot_position.pos[1]))
- m.rotate (-self.robot_position.angle)
# Look up elements.
# This could be used if clamp blocking is handled or elements are
# pushed:
diff --git a/host/simu/robots/marcel/view/loader.py b/host/simu/robots/marcel/view/loader.py
index 5bda5d5b..d4ed336e 100644
--- a/host/simu/robots/marcel/view/loader.py
+++ b/host/simu/robots/marcel/view/loader.py
@@ -67,8 +67,8 @@ class Loader (Drawable):
(300, 25 + 25 * i + (150 - 20 * i) * ratio))
if self.model.elevator_height is not None:
self.trans_identity ()
- self.trans_rotate (-self.model.elevator_angle)
self.trans_translate ((-100, -100 + self.model.elevator_height))
+ self.trans_rotate (-self.model.elevator_angle)
# Draw clamp load.
if self.model.clamp_load:
elements = self.model.clamp_load
diff --git a/host/simu/robots/marcel/view/robot.py b/host/simu/robots/marcel/view/robot.py
index 4e2135f2..67d505a2 100644
--- a/host/simu/robots/marcel/view/robot.py
+++ b/host/simu/robots/marcel/view/robot.py
@@ -52,8 +52,8 @@ class Robot (simu.inter.drawable.Drawable):
"""Draw the robot."""
self.reset ()
if self.pos is not None:
- self.trans_rotate (self.angle)
self.trans_translate (self.pos)
+ self.trans_rotate (self.angle)
# Draw robot body.
self.draw_polygon ((120, 155), (-95, 155), (-160, 90),
(-160, -90), (-95, -155), (120, -155))