(window, key, scancode, action, mods)
| 120 | self.viewer.cam.azimuth = 180 # 可根据需要调整角度 |
| 121 | self.viewer.cam.elevation = -20 # 负值表示从上往下看 |
| 122 | def _key_callback(window, key, scancode, action, mods): |
| 123 | if action == glfw.PRESS: |
| 124 | # Keyboard mapping: |
| 125 | # ---------------- |
| 126 | # | K L ; ' | |
| 127 | # | , . / | |
| 128 | # ---------------- |
| 129 | |
| 130 | if key == glfw.KEY_COMMA: |
| 131 | self.cmd[1] += 0.1 |
| 132 | elif key == glfw.KEY_SLASH: |
| 133 | self.cmd[1] -= 0.1 |
| 134 | elif key == glfw.KEY_L: # |
| 135 | self.cmd[0] += 0.1 |
| 136 | elif key == glfw.KEY_PERIOD: |
| 137 | self.cmd[0] -= 0.1 |
| 138 | elif key == glfw.KEY_K: |
| 139 | if self.heading_cmd: |
| 140 | self.cmd[3] = wrap_to_pi_float(self.cmd[3]+np.pi/10) |
| 141 | else: |
| 142 | self.cmd[2] += 0.1 |
| 143 | elif key == glfw.KEY_SEMICOLON: |
| 144 | if self.heading_cmd: |
| 145 | self.cmd[3] = wrap_to_pi_float(self.cmd[3]-np.pi/10) |
| 146 | else: |
| 147 | self.cmd[2] -= 0.1 |
| 148 | elif key == glfw.KEY_APOSTROPHE: |
| 149 | self.cmd = np.array(self.cfg.deploy.defcmd) |
| 150 | elif key == glfw.KEY_ENTER: |
| 151 | # self.Reset() |
| 152 | self._ref_pid = -2 |
| 153 | elif key == glfw.KEY_LEFT_BRACKET: |
| 154 | self._ref_pid -= 1 |
| 155 | elif key == glfw.KEY_RIGHT_BRACKET: |
| 156 | self._ref_pid += 1 |
| 157 | elif key>=320 and key<=329: |
| 158 | # 小键盘的数字 0-9 ,控制 策略切换 |
| 159 | self._ref_pid = key-320 |
| 160 | elif key >= 48 and key <= 57: |
| 161 | # 0-9 ,控制 策略切换 |
| 162 | self._ref_pid = key-48 |
| 163 | else: |
| 164 | print('Press key: ',key) |
| 165 | |
| 166 | print(self.cmd, self._ref_pid) |
| 167 | self.viewer._key_callback(window, key, scancode, action, mods) |
| 168 | glfw.set_key_callback(self.viewer.window, _key_callback) |
| 169 | |
| 170 | if self.is_recording: |
nothing calls this directly
no test coverage detected