WebotsDevice

robodyno.components.webots.webots_device

Provides base class for all robodyno devices in webots.

Examples:

from robodyno.components import WebotsDevice
from robodyno.interfaces import Webots
webots = Webots()

class MyDevice(WebotsDevice):
    def __init__(self, webots, device_id):
        super().__init__(webots, device_id)
        self.type = Model.MY_DEVICE
        self.register()

    def __del__(self):
        self.deregister()

    def step(self):
        pass

    def parallel_step(self):
        pass

WebotsDevice

Bases: object

Base class for all robodyno devices in webots.

All robodyno devices in webots should inherit from this class.

属性：

名称	类型	描述
id	int	Device id.
type	Model	Device type.

__init__(webots, device_id)

Initializes WebotsDevice with webots and device id.

参数：

名称	类型	描述	默认
webots	Webots	Webots instance.	必需
device_id	int	Device id.	必需

引发：

类型	描述
TypeError	If webots is not an instance of Webots class.

register()

Registers node to webots.

deregister()

Deregisters node from webots.

get_version()

Gets version of the device.

返回：

名称	类型	描述
dict	dict	Version of the device.

parallel_step()

Parallel step function.

This function is called in parallel with the webots simulation step.

step()

Step function.

This function is called after the webots simulation step.