diff --git a/rocolib/api/Parameterized.py b/rocolib/api/Parameterized.py
index 39803dfbecd42e54e7be53c8d7f0e9aee9920127..1fc3fbcb7646c6d3d708abbbde25c0fedb68f65b 100644
--- a/rocolib/api/Parameterized.py
+++ b/rocolib/api/Parameterized.py
@@ -1,7 +1,13 @@
+import re
+
from rocolib.utils.dimensions import isDim
from rocolib.utils.numsym import Dummy
+### XXX "." is used to separate subcomponent parameters when inherited
+### but we can't tell the difference here, so it's not invalid I guess
+VALID_ATTR = re.compile('^[a-zA-Z_][a-zA-Z0-9_.]*$')
+
PARAM_TYPES = {
"length": {
"valueType": "(float, int)",
@@ -31,11 +37,11 @@ PARAM_TYPES = {
class Parameter:
def __init__(self, name, defaultValue=None, paramType=None, **kwargs):
- ### XXX "." is used to separate subcomponent parameters when inherited
- ### but we can't tell the difference here, so it's not invalid I guess
+ if not VALID_ATTR.match(name):
+ raise ValueError("Invalid parameter name " + name)
+ if name[0] == '_' and not kwargs.get("hidden", False):
+ raise ValueError("Leading _ character reserved for hidden parameters, either set hidden flag or change name from " + name)
- #if "." in name:
- #raise ValueError("Invalid character '.' in parameter name " + name)
self.name = name
if defaultValue is None and not kwargs.get("optional", False):
@@ -72,14 +78,20 @@ class Parameter:
self.symbol = None
self.value = None
- def setValue(self, value):
- self.assertValid(value)
+ def setValue(self, value, validate=True):
+ if validate:
+ self.assertValid(value)
self.value = value
def setDefault(self, force=False):
if force or self.value is None:
self.setValue(self.defaultValue)
+ def setSpec(self, spec, value, validate=False):
+ self.spec[spec] = value
+ if validate:
+ self.assertValid(self.value)
+
def assertValid(self, value):
if value is None:
if self.spec.get("optional", False):
@@ -148,18 +160,29 @@ class Parameterized(object):
p.setDefault(force)
- def setParameter(self, n, v):
+ def setParameter(self, n, v, validate=True):
"""
Sets a k/v pair to the internal store if the key has been added previously
Raises KeyError if the key has not been added before
Passes along any ValueErrors from Parameter object
"""
+ if "#" in n:
+ n, spec = n.split("#")
+ else:
+ spec = None
if n in self.parameters:
- self.parameters[n].setValue(v)
+ if spec:
+ self.parameters[n].setSpec(spec, v, validate)
+ else:
+ self.parameters[n].setValue(v, validate)
else:
raise KeyError("Parameter %s not initialized on object %s" % (n, str(self)))
+ def validate(self):
+ for p in self.parameters.values():
+ p.assertValid(p.getValue())
+
def getParameter(self, name):
"""
Retrieves the parameter value with the given name
@@ -168,14 +191,14 @@ class Parameterized(object):
return self.parameters[name].getValue()
- def getParameterInfo(self, name=None, keys=None):
+ def getParameterInfo(self, name=None, keys=None, hidden=False):
"""
Retrieves the parameter metadata info
"""
if name:
return self.parameters[name].getInfo(keys)
else:
- return {k: v.getInfo(keys) for k, v in self.parameters.items()}
+ return {k: v.getInfo(keys) for k, v in self.parameters.items() if hidden or not v.getSpec().get("hidden", False)}
def hasParameter(self, name):
diff --git a/rocolib/api/components/Component.py b/rocolib/api/components/Component.py
index e2546838d0269377abce29d96b96c95c467292de..a776cc1c28040038fda27dfd1a5b7461471a3a8a 100644
--- a/rocolib/api/components/Component.py
+++ b/rocolib/api/components/Component.py
@@ -149,7 +149,7 @@ class Component(Parameterized):
if prefix == "":
prefix = name
- for key, value in obj.getParameterInfo().items():
+ for key, value in obj.getParameterInfo(hidden=True).items():
# inherit = True : inherit all parameters
if inherit is True or key in inherit:
try:
@@ -343,7 +343,7 @@ class Component(Parameterized):
return self.subcomponents[name]['parameters']
def setSubParameter(self, c, n, v):
- self.getSubcomponent(c).setParameter(n, v)
+ self.getSubcomponent(c).setParameter(n, v, validate=False)
def getInterfaces(self, component, name, transient=False):
return self.getSubcomponent(component).getInterface(name, transient)
@@ -510,6 +510,7 @@ class Component(Parameterized):
if useDefaultParameters:
self.useDefaultParameters()
self.modifyParameters()
+ self.validate()
scOrder = self.traverseGraph()
for scName in scOrder:
diff --git a/rocolib/api/components/MechanicalComponent.py b/rocolib/api/components/MechanicalComponent.py
index 2b1bda83ca9590c054044390318b12bc6b4d387f..675efa8cf2014da22d8133214a8399b8069c5d25 100644
--- a/rocolib/api/components/MechanicalComponent.py
+++ b/rocolib/api/components/MechanicalComponent.py
@@ -14,18 +14,18 @@ def vals(x):
class MechanicalComponent(Component):
def predefine(self, **kwargs):
- self._origin = [ self.addParameter("_d"+x, 0, paramType="length", minValue=None)
+ self._origin = [ self.addParameter("_d"+x, 0, paramType="length", minValue=None, hidden=True)
for x in "xyz"
]
if kwargs.get("euler", False):
- self._euler = [ self.addParameter(x, 0, paramType="angle")
+ self._euler = [ self.addParameter(x, 0, paramType="angle", hidden=True)
for x in "_roll _pitch _yaw".split()
]
else:
self._euler = None
- self._quat = [ self.addParameter("_q_"+x, int(x == "a"),
- valueType="(int, float)", minValue=-1, maxValue=1)
+ self._quat = [ self.addParameter("_q_"+x, int(x == "a"),
+ valueType="(int, float)", minValue=-1, maxValue=1, hidden=True)
for x in "aijk"
]
#self.addSemanticConstraint(np.Eq(np.norm(self._quat), 1))
diff --git a/rocolib/builders/ESPBrainsBuilder.py b/rocolib/builders/ESPBrainsBuilder.py
index 0071a1dac000374f6de23bc8e369a9b0ff846dea..272317a7add8fa2a96a0a9f1ac77f57570a97fa1 100644
--- a/rocolib/builders/ESPBrainsBuilder.py
+++ b/rocolib/builders/ESPBrainsBuilder.py
@@ -4,14 +4,14 @@ from rocolib.api.Function import Function
self = Component()
-self.addSubcomponent("beam", "RectBeam")
+self.addSubcomponent("beam", "SimpleRectBeam")
self.addSubcomponent("header", "Header")
self.addSubcomponent("servoPins", "Cutout")
self.addParameter("brain", "nodeMCU", paramType="dimension")
self.addParameter("length", 90, paramType="length")
-self.addParameter("width", 10, paramType="length")
-self.addParameter("depth", 10, paramType="length")
+self.addParameter("width", 50, paramType="length")
+self.addParameter("depth", 20, paramType="length")
### Set specific relationships between parameters
def getBrainParameter(p):
@@ -20,11 +20,10 @@ def getBrainParameter(p):
self.addConstraint(("beam", "width"), "depth")
self.addConstraint(("beam", "depth"), "width")
self.addConstraint(("beam", "length"), "length")
-self.addConstConstraint(("beam", "angle"), 90)
-self.addConstraint(("beam", "minwidth"), *getBrainParameter("height"))
-self.addConstraint(("beam", "mindepth"), *getBrainParameter("width"))
-self.addConstraint(("beam", "minlength"), *getBrainParameter("length"))
+self.addConstraint(("beam", "width#minValue"), *getBrainParameter("height"))
+self.addConstraint(("beam", "depth#minValue"), *getBrainParameter("width"))
+self.addConstraint(("beam", "length#minValue"), *getBrainParameter("length"))
self.addConstraint(("header", "nrows"), *getBrainParameter("nrows"))
self.addConstraint(("header", "ncols"), *getBrainParameter("ncols"))
diff --git a/rocolib/builders/ServoMountBuilder.py b/rocolib/builders/ServoMountBuilder.py
index 399f03b91bbb76b2139b6e9fa71afbe79a2f3245..53ba903b7cc5da142c3b960a361356d39d971f91 100644
--- a/rocolib/builders/ServoMountBuilder.py
+++ b/rocolib/builders/ServoMountBuilder.py
@@ -18,6 +18,7 @@ c.addConstraint(("mount", "dy"), "servo", 'getDim(x, "motorlength")')
c.addConstraint(("beam", "width"), "servo", 'getDim(x, "motorwidth")')
c.addConstraint(("beam", "depth"), "servo", 'getDim(x, "motorheight")')
+c.addConstraint(("beam", "length#minValue"), "servo", 'getDim(x, "motorlength") + 2 * getDim(x, "shoulderlength")')
c.inheritAllInterfaces("beam", prefix=None)
c.inheritAllInterfaces("mount")
diff --git a/rocolib/library/BoatBase.yaml b/rocolib/library/BoatBase.yaml
index 3c13407c663fd0b04cfaf87d227ba0ce78c124b5..b1ea51aa99b7806e29debd8f4c225a958e4f958e 100644
--- a/rocolib/library/BoatBase.yaml
+++ b/rocolib/library/BoatBase.yaml
@@ -22,42 +22,49 @@ parameters:
boat._dx:
defaultValue: 0
spec:
+ hidden: true
minValue: null
units: mm
valueType: (float, int)
boat._dy:
defaultValue: 0
spec:
+ hidden: true
minValue: null
units: mm
valueType: (float, int)
boat._dz:
defaultValue: 0
spec:
+ hidden: true
minValue: null
units: mm
valueType: (float, int)
boat._q_a:
defaultValue: 1
spec:
+ hidden: true
maxValue: 1
minValue: -1
valueType: (int, float)
boat._q_i:
defaultValue: 0
spec:
+ hidden: true
maxValue: 1
minValue: -1
valueType: (int, float)
boat._q_j:
defaultValue: 0
spec:
+ hidden: true
maxValue: 1
minValue: -1
valueType: (int, float)
boat._q_k:
defaultValue: 0
spec:
+ hidden: true
maxValue: 1
minValue: -1
valueType: (int, float)
@@ -82,42 +89,49 @@ parameters:
bow._dx:
defaultValue: 0
spec:
+ hidden: true
minValue: null
units: mm
valueType: (float, int)
bow._dy:
defaultValue: 0
spec:
+ hidden: true
minValue: null
units: mm
valueType: (float, int)
bow._dz:
defaultValue: 0
spec:
+ hidden: true
minValue: null
units: mm
valueType: (float, int)
bow._q_a:
defaultValue: 1
spec:
+ hidden: true
maxValue: 1
minValue: -1
valueType: (int, float)
bow._q_i:
defaultValue: 0
spec:
+ hidden: true
maxValue: 1
minValue: -1
valueType: (int, float)
bow._q_j:
defaultValue: 0
spec:
+ hidden: true
maxValue: 1
minValue: -1
valueType: (int, float)
bow._q_k:
defaultValue: 0
spec:
+ hidden: true
maxValue: 1
minValue: -1
valueType: (int, float)
@@ -130,42 +144,49 @@ parameters:
stern._dx:
defaultValue: 0
spec:
+ hidden: true
minValue: null
units: mm
valueType: (float, int)
stern._dy:
defaultValue: 0
spec:
+ hidden: true
minValue: null
units: mm
valueType: (float, int)
stern._dz:
defaultValue: 0
spec:
+ hidden: true
minValue: null
units: mm
valueType: (float, int)
stern._q_a:
defaultValue: 1
spec:
+ hidden: true
maxValue: 1
minValue: -1
valueType: (int, float)
stern._q_i:
defaultValue: 0
spec:
+ hidden: true
maxValue: 1
minValue: -1
valueType: (int, float)
stern._q_j:
defaultValue: 0
spec:
+ hidden: true
maxValue: 1
minValue: -1
valueType: (int, float)
stern._q_k:
defaultValue: 0
spec:
+ hidden: true
maxValue: 1
minValue: -1
valueType: (int, float)
diff --git a/rocolib/library/Canoe.yaml b/rocolib/library/Canoe.yaml
index ee32d94a740f973ca132f67250b4cb01bc5f605e..fbba25f09577d373113b0db3e17c9d166f2a951d 100644
--- a/rocolib/library/Canoe.yaml
+++ b/rocolib/library/Canoe.yaml
@@ -137,42 +137,49 @@ parameters:
boat._dx:
defaultValue: 0
spec:
+ hidden: true
minValue: null
units: mm
valueType: (float, int)
boat._dy:
defaultValue: 0
spec:
+ hidden: true
minValue: null
units: mm
valueType: (float, int)
boat._dz:
defaultValue: 0
spec:
+ hidden: true
minValue: null
units: mm
valueType: (float, int)
boat._q_a:
defaultValue: 1
spec:
+ hidden: true
maxValue: 1
minValue: -1
valueType: (int, float)
boat._q_i:
defaultValue: 0
spec:
+ hidden: true
maxValue: 1
minValue: -1
valueType: (int, float)
boat._q_j:
defaultValue: 0
spec:
+ hidden: true
maxValue: 1
minValue: -1
valueType: (int, float)
boat._q_k:
defaultValue: 0
spec:
+ hidden: true
maxValue: 1
minValue: -1
valueType: (int, float)
@@ -197,42 +204,49 @@ parameters:
bow._dx:
defaultValue: 0
spec:
+ hidden: true
minValue: null
units: mm
valueType: (float, int)
bow._dy:
defaultValue: 0
spec:
+ hidden: true
minValue: null
units: mm
valueType: (float, int)
bow._dz:
defaultValue: 0
spec:
+ hidden: true
minValue: null
units: mm
valueType: (float, int)
bow._q_a:
defaultValue: 1
spec:
+ hidden: true
maxValue: 1
minValue: -1
valueType: (int, float)
bow._q_i:
defaultValue: 0
spec:
+ hidden: true
maxValue: 1
minValue: -1
valueType: (int, float)
bow._q_j:
defaultValue: 0
spec:
+ hidden: true
maxValue: 1
minValue: -1
valueType: (int, float)
bow._q_k:
defaultValue: 0
spec:
+ hidden: true
maxValue: 1
minValue: -1
valueType: (int, float)
@@ -251,42 +265,49 @@ parameters:
stern._dx:
defaultValue: 0
spec:
+ hidden: true
minValue: null
units: mm
valueType: (float, int)
stern._dy:
defaultValue: 0
spec:
+ hidden: true
minValue: null
units: mm
valueType: (float, int)
stern._dz:
defaultValue: 0
spec:
+ hidden: true
minValue: null
units: mm
valueType: (float, int)
stern._q_a:
defaultValue: 1
spec:
+ hidden: true
maxValue: 1
minValue: -1
valueType: (int, float)
stern._q_i:
defaultValue: 0
spec:
+ hidden: true
maxValue: 1
minValue: -1
valueType: (int, float)
stern._q_j:
defaultValue: 0
spec:
+ hidden: true
maxValue: 1
minValue: -1
valueType: (int, float)
stern._q_k:
defaultValue: 0
spec:
+ hidden: true
maxValue: 1
minValue: -1
valueType: (int, float)
diff --git a/rocolib/library/ESPBrains.yaml b/rocolib/library/ESPBrains.yaml
index 902c2bd4be821dbec9a41f038a19062f80099857..36578232d530a1b44f683ed3831bffd26e929b49 100644
--- a/rocolib/library/ESPBrains.yaml
+++ b/rocolib/library/ESPBrains.yaml
@@ -69,7 +69,7 @@ parameters:
spec:
valueType: str
depth:
- defaultValue: 10
+ defaultValue: 20
spec:
minValue: 0
units: mm
@@ -81,7 +81,7 @@ parameters:
units: mm
valueType: (float, int)
width:
- defaultValue: 10
+ defaultValue: 50
spec:
minValue: 0
units: mm
@@ -89,25 +89,24 @@ parameters:
source: ../builders/ESPBrainsBuilder.py
subcomponents:
beam:
- classname: RectBeam
+ classname: SimpleRectBeam
kwargs: {}
parameters:
- angle: 90
depth:
parameter: width
- length:
- parameter: length
- mindepth:
+ depth#minValue:
function: getDim(x, 'width')
parameter: brain
- minlength:
+ length:
+ parameter: length
+ length#minValue:
function: getDim(x, 'length')
parameter: brain
- minwidth:
- function: getDim(x, 'height')
- parameter: brain
width:
parameter: depth
+ width#minValue:
+ function: getDim(x, 'height')
+ parameter: brain
header:
classname: Header
kwargs: {}
diff --git a/rocolib/library/MountedServo.yaml b/rocolib/library/MountedServo.yaml
index aaaa270f888997a30548a631d78a58d8ed5baa9a..f6353e834719629510fc9f1d0a4b7d3a499e96ff 100644
--- a/rocolib/library/MountedServo.yaml
+++ b/rocolib/library/MountedServo.yaml
@@ -61,42 +61,49 @@ parameters:
_dx:
defaultValue: 0
spec:
+ hidden: true
minValue: null
units: mm
valueType: (float, int)
_dy:
defaultValue: 0
spec:
+ hidden: true
minValue: null
units: mm
valueType: (float, int)
_dz:
defaultValue: 0
spec:
+ hidden: true
minValue: null
units: mm
valueType: (float, int)
_q_a:
defaultValue: 1
spec:
+ hidden: true
maxValue: 1
minValue: -1
valueType: (int, float)
_q_i:
defaultValue: 0
spec:
+ hidden: true
maxValue: 1
minValue: -1
valueType: (int, float)
_q_j:
defaultValue: 0
spec:
+ hidden: true
maxValue: 1
minValue: -1
valueType: (int, float)
_q_k:
defaultValue: 0
spec:
+ hidden: true
maxValue: 1
minValue: -1
valueType: (int, float)
diff --git a/rocolib/library/RectBeam.py b/rocolib/library/RectBeam.py
index d45e0cd4075f1ed3e7085b1384831b9d8f3a6705..60abf3d0b1754f200d4ae23e525c5cd081695c84 100644
--- a/rocolib/library/RectBeam.py
+++ b/rocolib/library/RectBeam.py
@@ -8,11 +8,6 @@ class RectBeam(FoldedComponent):
self.addParameter("width", 20, paramType="length")
self.addParameter("depth", 50, paramType="length")
- # XXX TODO: incorporate into minValue of parameters somehow
- self.addParameter("minlength", 0, paramType="length")
- self.addParameter("minwidth", 0, paramType="length")
- self.addParameter("mindepth", 0, paramType="length")
-
self.addParameter("phase", 0, valueType="int")
self.addParameter("angle", optional=True, overrides=("tangle", "bangle"))
@@ -29,11 +24,6 @@ class RectBeam(FoldedComponent):
self.addEdgeInterface("tabedge", "r3.e1", "length")
self.addEdgeInterface("slotedge", "r0.e3", "length")
- def modifyParameters(self):
- self.setParameter("width", max(self.getParameter("width"), self.getParameter("minwidth")))
- self.setParameter("depth", max(self.getParameter("depth"), self.getParameter("mindepth")))
- self.setParameter("length", max(self.getParameter("length"), self.getParameter("minlength")))
-
def assemble(self):
if self.getParameter("angle") is not None:
bangle = 90 - self.getParameter("angle")
diff --git a/rocolib/library/ServoMount.yaml b/rocolib/library/ServoMount.yaml
index f45cb93dc81a8f21bba35a103e820070315f0633..829101ab4f87dd380d724ddf8cb1ca6efa48b2e4 100644
--- a/rocolib/library/ServoMount.yaml
+++ b/rocolib/library/ServoMount.yaml
@@ -103,6 +103,9 @@ subcomponents:
parameter: servo
length:
parameter: length
+ length#minValue:
+ function: getDim(x, "motorlength") + 2 * getDim(x, "shoulderlength")
+ parameter: servo
width:
function: getDim(x, "motorwidth")
parameter: servo
diff --git a/rocolib/library/SimpleChair.yaml b/rocolib/library/SimpleChair.yaml
index 3756a211f2a105b26ef98575405efa90ef6af541..672e7b286a2f4e553a2ff625350097c66e182dcd 100644
--- a/rocolib/library/SimpleChair.yaml
+++ b/rocolib/library/SimpleChair.yaml
@@ -16,42 +16,49 @@ parameters:
_dx:
defaultValue: 0
spec:
+ hidden: true
minValue: null
units: mm
valueType: (float, int)
_dy:
defaultValue: 0
spec:
+ hidden: true
minValue: null
units: mm
valueType: (float, int)
_dz:
defaultValue: 0
spec:
+ hidden: true
minValue: null
units: mm
valueType: (float, int)
_q_a:
defaultValue: 1
spec:
+ hidden: true
maxValue: 1
minValue: -1
valueType: (int, float)
_q_i:
defaultValue: 0
spec:
+ hidden: true
maxValue: 1
minValue: -1
valueType: (int, float)
_q_j:
defaultValue: 0
spec:
+ hidden: true
maxValue: 1
minValue: -1
valueType: (int, float)
_q_k:
defaultValue: 0
spec:
+ hidden: true
maxValue: 1
minValue: -1
valueType: (int, float)
diff --git a/rocolib/library/SimpleTable.yaml b/rocolib/library/SimpleTable.yaml
index f377c9740c7f777beb667cda5e00dfa87c7e95ef..5a77e45e77f45fded0bcd175645f67567f650d48 100644
--- a/rocolib/library/SimpleTable.yaml
+++ b/rocolib/library/SimpleTable.yaml
@@ -52,42 +52,49 @@ parameters:
_dx:
defaultValue: 0
spec:
+ hidden: true
minValue: null
units: mm
valueType: (float, int)
_dy:
defaultValue: 0
spec:
+ hidden: true
minValue: null
units: mm
valueType: (float, int)
_dz:
defaultValue: 0
spec:
+ hidden: true
minValue: null
units: mm
valueType: (float, int)
_q_a:
defaultValue: 1
spec:
+ hidden: true
maxValue: 1
minValue: -1
valueType: (int, float)
_q_i:
defaultValue: 0
spec:
+ hidden: true
maxValue: 1
minValue: -1
valueType: (int, float)
_q_j:
defaultValue: 0
spec:
+ hidden: true
maxValue: 1
minValue: -1
valueType: (int, float)
_q_k:
defaultValue: 0
spec:
+ hidden: true
maxValue: 1
minValue: -1
valueType: (int, float)
diff --git a/rocolib/library/Trimaran.yaml b/rocolib/library/Trimaran.yaml
index 032a1463695d19053944a5cebb14d459c10cd91f..21ddb7017937bab514771c1511cedc692245d59c 100644
--- a/rocolib/library/Trimaran.yaml
+++ b/rocolib/library/Trimaran.yaml
@@ -160,42 +160,49 @@ parameters:
boat._dx:
defaultValue: 0
spec:
+ hidden: true
minValue: null
units: mm
valueType: (float, int)
boat._dy:
defaultValue: 0
spec:
+ hidden: true
minValue: null
units: mm
valueType: (float, int)
boat._dz:
defaultValue: 0
spec:
+ hidden: true
minValue: null
units: mm
valueType: (float, int)
boat._q_a:
defaultValue: 1
spec:
+ hidden: true
maxValue: 1
minValue: -1
valueType: (int, float)
boat._q_i:
defaultValue: 0
spec:
+ hidden: true
maxValue: 1
minValue: -1
valueType: (int, float)
boat._q_j:
defaultValue: 0
spec:
+ hidden: true
maxValue: 1
minValue: -1
valueType: (int, float)
boat._q_k:
defaultValue: 0
spec:
+ hidden: true
maxValue: 1
minValue: -1
valueType: (int, float)
@@ -220,42 +227,49 @@ parameters:
bow._dx:
defaultValue: 0
spec:
+ hidden: true
minValue: null
units: mm
valueType: (float, int)
bow._dy:
defaultValue: 0
spec:
+ hidden: true
minValue: null
units: mm
valueType: (float, int)
bow._dz:
defaultValue: 0
spec:
+ hidden: true
minValue: null
units: mm
valueType: (float, int)
bow._q_a:
defaultValue: 1
spec:
+ hidden: true
maxValue: 1
minValue: -1
valueType: (int, float)
bow._q_i:
defaultValue: 0
spec:
+ hidden: true
maxValue: 1
minValue: -1
valueType: (int, float)
bow._q_j:
defaultValue: 0
spec:
+ hidden: true
maxValue: 1
minValue: -1
valueType: (int, float)
bow._q_k:
defaultValue: 0
spec:
+ hidden: true
maxValue: 1
minValue: -1
valueType: (int, float)
@@ -280,42 +294,49 @@ parameters:
stern._dx:
defaultValue: 0
spec:
+ hidden: true
minValue: null
units: mm
valueType: (float, int)
stern._dy:
defaultValue: 0
spec:
+ hidden: true
minValue: null
units: mm
valueType: (float, int)
stern._dz:
defaultValue: 0
spec:
+ hidden: true
minValue: null
units: mm
valueType: (float, int)
stern._q_a:
defaultValue: 1
spec:
+ hidden: true
maxValue: 1
minValue: -1
valueType: (int, float)
stern._q_i:
defaultValue: 0
spec:
+ hidden: true
maxValue: 1
minValue: -1
valueType: (int, float)
stern._q_j:
defaultValue: 0
spec:
+ hidden: true
maxValue: 1
minValue: -1
valueType: (int, float)
stern._q_k:
defaultValue: 0
spec:
+ hidden: true
maxValue: 1
minValue: -1
valueType: (int, float)
diff --git a/rocolib/library/Wheel.yaml b/rocolib/library/Wheel.yaml
index 51d9e01c2f7ca3f35118e9b7cab3c760ff056e21..7d22b01b470b52e2020ad78e7a78856e00e82eef 100644
--- a/rocolib/library/Wheel.yaml
+++ b/rocolib/library/Wheel.yaml
@@ -61,42 +61,49 @@ parameters:
_dx:
defaultValue: 0
spec:
+ hidden: true
minValue: null
units: mm
valueType: (float, int)
_dy:
defaultValue: 0
spec:
+ hidden: true
minValue: null
units: mm
valueType: (float, int)
_dz:
defaultValue: 0
spec:
+ hidden: true
minValue: null
units: mm
valueType: (float, int)
_q_a:
defaultValue: 1
spec:
+ hidden: true
maxValue: 1
minValue: -1
valueType: (int, float)
_q_i:
defaultValue: 0
spec:
+ hidden: true
maxValue: 1
minValue: -1
valueType: (int, float)
_q_j:
defaultValue: 0
spec:
+ hidden: true
maxValue: 1
minValue: -1
valueType: (int, float)
_q_k:
defaultValue: 0
spec:
+ hidden: true
maxValue: 1
minValue: -1
valueType: (int, float)