72 lines
2.1 KiB
Python
72 lines
2.1 KiB
Python
from dataclasses import dataclass
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import numpy as np
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from pygame import Vector2
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def checkDimensions(self, row:int, column:int):
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if self.data.shape != (row, column):
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raise ValueError(f"{type(self).__name__} must be of shape ({row}, {column}), got {self.data.shape}")
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# Dataclasses
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@dataclass
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class PosArray:
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data: np.ndarray
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def __post_init__(self):
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if not isinstance(self.data, np.ndarray):
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self.data = np.array(self.data, dtype=float)
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checkDimensions(self, 6, 3)
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# behave like numpy
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def __array__(self): return self.data
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def __getitem__(self, key): return self.data[key]
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def __iter__(self): return iter(self.data)
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def __repr__(self): return f"PosArray(\n{self.data}\n)"
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@dataclass
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class DegArray:
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data: np.ndarray
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def __post_init__(self):
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if not isinstance(self.data, np.ndarray):
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self.data = np.array(self.data)
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checkDimensions(self, 6, 3)
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self.data = self.data.astype(int)
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def to_rad(self) -> "RadArray":
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return RadArray(np.radians(self.data))
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# behave like numpy
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def __array__(self): return self.data
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def __getitem__(self, key): return self.data[key]
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def __iter__(self): return iter(self.data)
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def __repr__(self): return f"PosArray(\n{self.data}\n)"
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@dataclass
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class RadArray:
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data: np.ndarray
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def __post_init__(self):
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if not isinstance(self.data, np.ndarray):
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self.data = np.array(self.data, dtype=float)
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checkDimensions(self, 6, 3)
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def to_deg(self) -> "DegArray":
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return DegArray(np.degrees(self.data))
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# behave like numpy
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def __array__(self): return self.data
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def __getitem__(self, key): return self.data[key]
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def __iter__(self): return iter(self.data)
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def __repr__(self): return f"PosArray(\n{self.data}\n)"
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@dataclass
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class RobotCommand:
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legs: DegArray
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state: int = 0
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text: str = ""
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@dataclass
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class ControlIntent:
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move_x: float = 0.0
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move_y: float = 0.0
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turn: float = 0.0
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emote: str | None = None
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walk: bool = False
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quit: bool = False
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