QBot Platform Floor Mats

Description

The QBot Platform is accompanied by floor mats. These mats are considered an “actor” in Quanser Interactive Labs. These mats are created to help easily teach line following, path planning and other important warehouse robotics skills.

Library

class qvl.qbot_platform_flooring.QLabsQBotPlatformFlooring(qlabs, verbose=False)[source]

This class is for spawning QBot Platform floor mats.

Constants

QLabsQBotPlatformFlooring.ID_FLOORING = 10091

Class ID

QLabsQBotPlatformFlooring.FLOORING_QBOT_PLATFORM_0 = 0
QLabsQBotPlatformFlooring.FLOORING_QBOT_PLATFORM_1 = 1
QLabsQBotPlatformFlooring.FLOORING_QBOT_PLATFORM_2 = 2
QLabsQBotPlatformFlooring.FLOORING_QBOT_PLATFORM_3 = 3
QLabsQBotPlatformFlooring.FLOORING_QBOT_PLATFORM_4 = 4
QLabsQBotPlatformFlooring.FLOORING_QBOT_PLATFORM_5 = 5

Member Variables

QLabsQBotPlatformFlooring.actorNumber = None

The current actor number of this class to be addressed. This will be set by spawn methods and cleared by destroy methods. It will not be modified by the destroy all actors. This can be manually altered at any time to use one object to address multiple actors.

Methods

QLabsQBotPlatformFlooring.spawn(location=[0, 0, 0], rotation=[0, 0, 0], scale=[1, 1, 1], configuration=0, waitForConfirmation=True)

Spawns a new actor with the next available actor number within this class.

Parameters

  • location (float array[3]) – (Optional) An array of floats for x, y and z coordinates

  • rotation (float array[3]) – (Optional) An array of floats for the roll, pitch, and yaw in radians

  • scale (float array[3]) – (Optional) An array of floats for the scale in the x, y, and z directions. Scale values of 0.0 should not be used.

  • configuration (uint32) – (Optional) Spawn configuration. See class library for configuration options.

  • waitForConfirmation (boolean) – (Optional) Make this operation blocking until confirmation of the spawn has occurred. Note that if this is False, the returned actor number will be invalid.

Returns

  • status - 0 if successful, 1 class not available, 3 unknown error, -1 communications error.

  • actorNumber - An actor number to use for future references.

Return type

int32, int32

QLabsQBotPlatformFlooring.spawn_degrees(location=[0, 0, 0], rotation=[0, 0, 0], scale=[1, 1, 1], configuration=0, waitForConfirmation=True)

Spawns a new actor with the next available actor number within this class.

Parameters

  • location (float array[3]) – (Optional) An array of floats for x, y and z coordinates

  • rotation (float array[3]) – (Optional) An array of floats for the roll, pitch, and yaw in degrees

  • scale (float array[3]) – (Optional) An array of floats for the scale in the x, y, and z directions. Scale values of 0.0 should not be used.

  • configuration (uint32) – (Optional) Spawn configuration. See class library for configuration options.

  • waitForConfirmation (boolean) – (Optional) Make this operation blocking until confirmation of the spawn has occurred. Note that if this is False, the returned actor number will be invalid.

Returns

  • status - 0 if successful, 1 class not available, 3 unknown error, -1 communications error.

  • actorNumber - An actor number to use for future references.

Return type

int32, int32

QLabsQBotPlatformFlooring.spawn_id(actorNumber, location=[0, 0, 0], rotation=[0, 0, 0], scale=[1, 1, 1], configuration=0, waitForConfirmation=True)

Spawns a new actor.

Parameters

  • actorNumber (uint32) – User defined unique identifier for the class actor in QLabs

  • location (float array[3]) – (Optional) An array of floats for x, y and z coordinates

  • rotation (float array[3]) – (Optional) An array of floats for the roll, pitch, and yaw in radians

  • scale (float array[3]) – (Optional) An array of floats for the scale in the x, y, and z directions. Scale values of 0.0 should not be used.

  • configuration (uint32) – (Optional) Spawn configuration. See class library for configuration options.

  • waitForConfirmation (boolean) – (Optional) Make this operation blocking until confirmation of the spawn has occurred.

Returns

  • status - 0 if successful, 1 class not available, 2 actor number not available or already in use, 3 unknown error, -1 communications error

Return type

int32

QLabsQBotPlatformFlooring.spawn_id_degrees(actorNumber, location=[0, 0, 0], rotation=[0, 0, 0], scale=[1, 1, 1], configuration=0, waitForConfirmation=True)

Spawns a new actor.

Parameters

  • actorNumber (uint32) – User defined unique identifier for the class actor in QLabs

  • location (float array[3]) – (Optional) An array of floats for x, y and z coordinates

  • rotation (float array[3]) – (Optional) An array of floats for the roll, pitch, and yaw in radians

  • scale (float array[3]) – (Optional) An array of floats for the scale in the x, y, and z directions. Scale values of 0.0 should not be used.

  • configuration (uint32) – (Optional) Spawn configuration. See class library for configuration options.

  • waitForConfirmation (boolean) – (Optional) Make this operation blocking until confirmation of the spawn has occurred.

Returns

  • status - 0 if successful, 1 class not available, 2 actor number not available or already in use, 3 unknown error, -1 communications error

Return type

int32

QLabsQBotPlatformFlooring.spawn_id_and_parent_with_relative_transform(actorNumber, location=[0, 0, 0], rotation=[0, 0, 0], scale=[1, 1, 1], configuration=0, parentClassID=0, parentActorNumber=0, parentComponent=0, waitForConfirmation=True)

Spawns a new actor relative to an existing actor and creates a kinematic relationship.

Parameters

  • actorNumber (uint32) – User defined unique identifier for the class actor in QLabs

  • location (float array[3]) – (Optional) An array of floats for x, y and z coordinates

  • rotation (float array[3]) – (Optional) An array of floats for the roll, pitch, and yaw in radians

  • scale (float array[3]) – (Optional) An array of floats for the scale in the x, y, and z directions. Scale values of 0.0 should not be used.

  • configuration (uint32) – (Optional) Spawn configuration. See class library for configuration options.

  • parentClassID (uint32) – See the ID variables in the respective library classes for the class identifier

  • parentActorNumber (uint32) – User defined unique identifier for the class actor in QLabs

  • parentComponent (uint32) – 0 for the origin of the parent actor, see the parent class for additional reference frame options

  • waitForConfirmation (boolean) – (Optional) Make this operation blocking until confirmation of the spawn has occurred.

Returns

  • status - 0 if successful, 1 class not available, 2 actor number not available or already in use, 3 cannot find the parent actor, 4 unknown error, -1 communications error

Return type

int32

QLabsQBotPlatformFlooring.spawn_id_and_parent_with_relative_transform_degrees(actorNumber, location=[0, 0, 0], rotation=[0, 0, 0], scale=[1, 1, 1], configuration=0, parentClassID=0, parentActorNumber=0, parentComponent=0, waitForConfirmation=True)

Spawns a new actor relative to an existing actor and creates a kinematic relationship.

Parameters

  • actorNumber (uint32) – User defined unique identifier for the class actor in QLabs

  • location (float array[3]) – (Optional) An array of floats for x, y and z coordinates

  • rotation (float array[3]) – (Optional) An array of floats for the roll, pitch, and yaw in degrees

  • scale (float array[3]) – (Optional) An array of floats for the scale in the x, y, and z directions. Scale values of 0.0 should not be used.

  • configuration (uint32) – (Optional) Spawn configuration. See class library for configuration options.

  • parentClassID (uint32) – See the ID variables in the respective library classes for the class identifier

  • parentActorNumber (uint32) – User defined unique identifier for the class actor in QLabs

  • parentComponent (uint32) – 0 for the origin of the parent actor, see the parent class for additional reference frame options

  • waitForConfirmation (boolean) – (Optional) Make this operation blocking until confirmation of the spawn has occurred.

Returns

  • status - 0 if successful, 1 class not available, 2 actor number not available or already in use, 3 cannot find the parent actor, 4 unknown error, -1 communications error

Return type

int32

QLabsQBotPlatformFlooring.destroy()

Find and destroy a specific actor. This is a blocking operation.

Returns

  • numActorsDestroyed - The number of actors destroyed. -1 if failed.

Return type

int32

QLabsQBotPlatformFlooring.destroy_all_actors_of_class()

Find and destroy all actors of this class. This is a blocking operation.

Returns

  • numActorsDestroyed - The number of actors destroyed. -1 if failed.

Return type

int32

QLabsQBotPlatformFlooring.ping()

Checks if the actor is still present in the environment. Note that if you did not spawn the actor with one of the spawn functions, you may need to manually set the actorNumber member variable.

Returns

  • status - True if successful, False otherwise

Return type

boolean

QLabsQBotPlatformFlooring.get_world_transform()

Get the location, rotation, and scale in world coordinates of the actor.

Returns

  • status - True if successful, False otherwise

  • location

  • rotation

  • scale

Return type

boolean, float array[3], float array[3], float array[3]

QLabsQBotPlatformFlooring.get_world_transform_degrees()

Get the location, rotation, and scale in world coordinates of the actor.

Returns

  • status - True if successful, False otherwise

  • location

  • rotation

  • scale

Return type

boolean, float array[3], float array[3], float array[3]

QLabsQBotPlatformFlooring.parent_with_relative_transform(location=[0, 0, 0], rotation=[0, 0, 0], scale=[1, 1, 1], parentClassID=0, parentActorNumber=0, parentComponent=0, waitForConfirmation=True)

Parents one existing actor to another to create a kinematic relationship.

Parameters

  • location (float array[3]) – (Optional) An array of floats for x, y and z coordinates

  • rotation (float array[3]) – (Optional) An array of floats for the roll, pitch, and yaw in radians

  • scale (float array[3]) – (Optional) An array of floats for the scale in the x, y, and z directions. Scale values of 0.0 should not be used.

  • parentClassID (uint32) – See the ID variables in the respective library classes for the class identifier

  • parentActorNumber (uint32) – User defined unique identifier for the class actor in QLabs

  • parentComponent (uint32) – 0 for the origin of the parent actor, see the parent class for additional reference frame options

  • waitForConfirmation (boolean) – (Optional) Make this operation blocking until confirmation of the spawn has occurred.

Returns

  • status - 0 if successful, 1 cannot find this actor, 2 cannot find the parent actor, 3 unknown error, -1 communications error

Return type

int32

QLabsQBotPlatformFlooring.parent_with_relative_transform_degrees(location=[0, 0, 0], rotation=[0, 0, 0], scale=[1, 1, 1], parentClassID=0, parentActorNumber=0, parentComponent=0, waitForConfirmation=True)

Parents one existing actor to another to create a kinematic relationship.

Parameters

  • location (float array[3]) – (Optional) An array of floats for x, y and z coordinates

  • rotation (float array[3]) – (Optional) An array of floats for the roll, pitch, and yaw in degrees

  • scale (float array[3]) – (Optional) An array of floats for the scale in the x, y, and z directions. Scale values of 0.0 should not be used.

  • parentClassID (uint32) – (Optional) See the ID variables in the respective library classes for the class identifier

  • parentActorNumber (uint32) – (Optional) User defined unique identifier for the class actor in QLabs

  • parentComponent (uint32) – (Optional) 0 for the origin of the parent actor, see the parent class for additional reference frame options

  • waitForConfirmation (boolean) – (Optional) Make this operation blocking until confirmation of the spawn has occurred.

Returns

  • status - 0 if successful, 1 cannot find this actor, 2 cannot find the parent actor, 3 unknown error, -1 communications error

Return type

int32

QLabsQBotPlatformFlooring.parent_with_current_world_transform(parentClassID=0, parentActorNumber=0, parentComponent=0, waitForConfirmation=True)

Parents one existing actor to another to create a kinematic relationship while preserving the current world transform of the child actor.

Parameters

  • parentClassID (uint32) – See the ID variables in the respective library classes for the class identifier

  • parentActorNumber (uint32) – User defined unique identifier for the class actor in QLabs

  • parentComponent (uint32) – 0 for the origin of the parent actor, see the parent class for additional reference frame options

  • waitForConfirmation (boolean) – (Optional) Make this operation blocking until confirmation of the spawn has occurred.

Returns

  • status - 0 if successful, 1 cannot find this actor, 2 cannot find the parent actor, 3 unknown error, -1 communications error

Return type

int32

QLabsQBotPlatformFlooring.parent_break(waitForConfirmation=True)

Breaks any relationship with a parent actor (if it exists) and preserves the current world transform

Parameters

waitForConfirmation (boolean) – (Optional) Make this operation blocking until confirmation of the spawn has occurred.

Returns

  • status - 0 if successful, 1 cannot find this actor, -1 communications error

Return type

int32

Configurations

There 6 configurations (0-5) for the QBot Platform flooring class. Each mat is 1.2m x 1.2m.

../_images/configuration_qbot_platform_flooring.png

Connection Points

There are no connection points for this actor class.