JackM323
2b2125bfde
old code was uploaded in the initial upload changed everything with working programm and updated the readme
68 lines
2.0 KiB
Python
68 lines
2.0 KiB
Python
from dataclasses import dataclass
|
|
import numpy as np
|
|
from pygame import Vector2
|
|
|
|
def checkDimensions(self, row:int, column:int):
|
|
if self.data.shape != (row, column):
|
|
raise ValueError(f"{type(self).__name__} must be of shape ({row}, {column}), got {self.data.shape}")
|
|
|
|
# Dataclasses
|
|
@dataclass
|
|
class PosArray:
|
|
data: np.ndarray
|
|
def __post_init__(self):
|
|
if not isinstance(self.data, np.ndarray):
|
|
self.data = np.array(self.data, dtype=float)
|
|
checkDimensions(self, 6, 3)
|
|
# behave like numpy
|
|
def __array__(self): return self.data
|
|
def __getitem__(self, key): return self.data[key]
|
|
def __iter__(self): return iter(self.data)
|
|
def __repr__(self): return f"PosArray(\n{self.data}\n)"
|
|
|
|
|
|
@dataclass
|
|
class DegArray:
|
|
data: np.ndarray
|
|
def __post_init__(self):
|
|
if not isinstance(self.data, np.ndarray):
|
|
self.data = np.array(self.data)
|
|
checkDimensions(self, 6, 3)
|
|
self.data = self.data.astype(int)
|
|
|
|
def to_rad(self) -> "RadArray":
|
|
return RadArray(np.radians(self.data))
|
|
# behave like numpy
|
|
def __array__(self): return self.data
|
|
def __getitem__(self, key): return self.data[key]
|
|
def __iter__(self): return iter(self.data)
|
|
def __repr__(self): return f"PosArray(\n{self.data}\n)"
|
|
|
|
@dataclass
|
|
class RadArray:
|
|
data: np.ndarray
|
|
def __post_init__(self):
|
|
if not isinstance(self.data, np.ndarray):
|
|
self.data = np.array(self.data, dtype=float)
|
|
checkDimensions(self, 6, 3)
|
|
|
|
def to_deg(self) -> "DegArray":
|
|
return DegArray(np.degrees(self.data))
|
|
# behave like numpy
|
|
def __array__(self): return self.data
|
|
def __getitem__(self, key): return self.data[key]
|
|
def __iter__(self): return iter(self.data)
|
|
def __repr__(self): return f"PosArray(\n{self.data}\n)"
|
|
|
|
|
|
@dataclass
|
|
class RobotCommand:
|
|
legs: DegArray
|
|
state: int = 0
|
|
text: str = ""
|
|
|
|
@dataclass
|
|
class ControlIntent:
|
|
move_vector: Vector2
|
|
turn: float
|
|
emote: str | None |