# joint_values_collision.py
#
# Copyright (c) 2018, Xamla and/or its affiliates. All rights reserved.
#
# This program is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
# as published by the Free Software Foundation; either version 2
# of the License, or any later version.
#
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with this program; if not, write to the Free Software
# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
#!/usr/bin/env python3
[docs]class JointValuesCollisions(object):
"""
Class which represents a robot collision
"""
def __init__(self, index, error_code, error_message):
self.__index = index
self.__error_code = error_code
self.__error_message = error_message
@property
def index(self):
"""
index : int (readonly)
value index where the collision occurs
"""
return self.__index
@property
def error_code(self):
"""
error_code : int (readonly)
STATE_VALID = 1
STATE_SELF_COLLISION = -1
STATE_SCENE_COLLISION =-2
INVALID_JOINTS = -11
INVALID_MOVE_GROUP = -12
"""
return self.__error_code
@property
def error_message(self):
"""
error_message : str
error message of state
"""
return self.__error_message
def __str__(self):
return ('index_ ' + str(self.__index) +
' error: '+self.__error_message)
def __repr__(self):
return self.__str__()