Thing Class Reference

Detailed Description

A thing is the basic building block.

Inheritance diagram for Thing:

Classes
class	Type
	Predefined thing types. More...

Public Member Functions
None	__init__ (self, Optional['Participant'] owner=None, Optional['Thing'] parent=None, int thing_type=Type.Undetermined, int thing_id=0)
	Create a new thing.
	SetParent (self, Optional['Thing'] parent)
	Sets the parent of this Thing.
	AddChild (self, 'Thing' child)
	Add a child Thing to this Thing.
	RemoveChild (self, 'Thing' child)
	Remove the given thing as a child of this thing.
Optional[ 'Thing']	GetChild (self, int thing_id, bool recurse=False)
	Get a child by thing Id.
Optional[ 'Thing']	FindChild (self, str name, bool recurse=True)
	Find a thing by name.
None	SetPosition (self, Spherical position)
	Set the position of the thing.
None	SetOrientation (self, Quaternion orientation)
	Set the orientation of the thing.
None	SetLinearVelocity (self, Spherical linear_velocity)
	Set the linear velocity of the thing.
None	SetAngularVelocity (self, Spherical angular_velocity)
	Set the angular velocity of the thing.
None	Update (self, int currentTimeMs=0, bool recurse=False)
	Update de state of the thing.
int	GenerateBinary (self, bytearray bytes, set[int] ix_ref)
	Function used to generate binary data for this thing.
	ProcessBinary (self, bytes data)
	Function used to process binary data received for this thing.

Static Public Member Functions
int	GetTimeMs ()
	Get the current time in milliseconds.

Public Attributes
	owner
	parent
	position
	position_updated
	orientation
	orientation_updated
	linear_velocity_updated
	linear_velocity
	angular_velocity_updated
	angular_velocity

Static Public Attributes
	Position
int	Orientation = 0x02
int	LinearVelocity = 0x04
int	AngularVelocity = 0x08

Constructor & Destructor Documentation

__init__()

None __init__	(		self,
		Optional['Participant']	owner = None,
		Optional['Thing']	parent = None,
		int	thing_type = Type.Undetermined,
		int	thing_id = 0
	)

Create a new thing.

Parameters

owner	The owning participant
parent	The parent thing (will override owner if set)
thing_type	The type of thing (can use Thing.Type)
thingId	The ID of the thing, leave out or set to zero to generate an ID

Reimplemented in DifferentialDrive, TouchSensor, TemperatureSensor, and TouchSensor.

Member Function Documentation

SetParent()

SetParent	(		self,
		Optional['Thing']	parent
	)

Sets the parent of this Thing.

Parameters

The	Thing which should become the parent

Note

Do not set Thing.parent directly, as that will break the parent-child relation

AddChild()

AddChild	(		self,
		'Thing'	child
	)

Add a child Thing to this Thing.

Parameters

child

The Thing which should become a child

Remarks

When the Thing is already a child, it will not be added again

Note

Do not add a thing to Thing.children directly, as that will break the parent-child relation

RemoveChild()

RemoveChild	(		self,
		'Thing'	child
	)

Remove the given thing as a child of this thing.

Parameters

child

The child to remove

GetChild()

Optional['Thing'] GetChild	(		self,
		int	thing_id,
		bool	recurse = False
	)

Get a child by thing Id.

Parameters

id	The thing ID to find
recurse	Look recursively through all descendants

Returns

The found thing of nullptr when nothing is found

FindChild()

Optional['Thing'] FindChild	(		self,
		str	name,
		bool	recurse = True
	)

Find a thing by name.

Parameters

name	The name of the thing

Returns

The found thing or nullptr when nothing is found

Parameters

recurse

Look recursively through all descendants

SetPosition()

None SetPosition	(		self,
		Spherical	position
	)

Set the position of the thing.

Parameters

position

The new position in local space, in meters

SetOrientation()

None SetOrientation	(		self,
		Quaternion	orientation
	)

Set the orientation of the thing.

Parameters

orientation

The new orientation in local space

SetLinearVelocity()

None SetLinearVelocity	(		self,
		Spherical	linear_velocity
	)

Set the linear velocity of the thing.

Parameters

linearVelocity

The new linear velocity in local space, in meters per second

SetAngularVelocity()

None SetAngularVelocity	(		self,
		Spherical	angular_velocity
	)

Set the angular velocity of the thing.

Parameters

angularVelocity

the new angular velocity in local space

GetTimeMs()

int GetTimeMs ( )

static

Get the current time in milliseconds.

Returns

The current time in milliseconds

Update()

None Update	(		self,
		int	currentTimeMs = 0,
		bool	recurse = False
	)

Update de state of the thing.

Parameters

currentTimeMs	The current clock time in milliseconds; If this is zero, the current time is retrieved automatically
recurse	When true, this will Update the descendants recursively

Reimplemented in DifferentialDrive.

GenerateBinary()

int GenerateBinary	(		self,
		bytearray	bytes,
		set[int]	ix_ref
	)

Function used to generate binary data for this thing.

Parameters

buffer	The byte array for thw binary data
ix_ref	A single element array with the starting position for writing the binary data

Returns

The size of the binary data

Reimplemented in TouchSensor, TemperatureSensor, and TouchSensor.

ProcessBinary()

ProcessBinary	(		self,
		bytes	data
	)

Function used to process binary data received for this thing.

Parameters

bytes

The binary data

Reimplemented in TouchSensor, TemperatureSensor, and TouchSensor.

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The documentation for this class was generated from the following file:

• d:/Python/RoboidControl/RoboidControl/Thing.py