"""FollowReference Behavior."""
from __future__ import annotations
# Copyright 2022 Universidad Politécnica de Madrid
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# this software without specific prior written permission.
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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__authors__ = 'Miguel Fernández Cortizas, Pedro Arias Pérez, David Pérez Saura, Rafael Pérez Seguí, \
Javier Melero Deza'
__copyright__ = 'Copyright (c) 2022 Universidad Politécnica de Madrid'
__license__ = 'BSD-3-Clause'
import typing
from as2_msgs.action import FollowReference
from as2_python_api.behavior_actions.behavior_handler import BehaviorHandler
from geometry_msgs.msg import Pose, PoseStamped
if typing.TYPE_CHECKING:
from ..drone_interface_base import DroneInterfaceBase
[docs]
class FollowReferenceBehavior(BehaviorHandler):
"""FollowReference Behavior."""
def __init__(self, drone: 'DroneInterfaceBase') -> None:
self.__drone = drone
try:
super().__init__(drone, FollowReference, 'FollowReferenceBehavior')
except self.BehaviorNotAvailable as err:
self.__drone.get_logger().warn(str(err))
[docs]
def start(self, pose: tuple[Pose, PoseStamped], frame_id: str,
speed_x: float, speed_y: float, speed_z: float, yaw_mode: int,
yaw_angle: float, wait_result: bool = False) -> bool:
"""Start FollowReference behavior."""
goal_msg = FollowReference.Goal()
pose_stamped = self.__get_pose(pose)
goal_msg.target_pose.header.stamp = self.__drone.get_clock().now().to_msg()
goal_msg.target_pose.header.frame_id = frame_id
goal_msg.target_pose.point.x = pose_stamped.position.x
goal_msg.target_pose.point.y = pose_stamped.position.y
goal_msg.target_pose.point.z = pose_stamped.position.z
goal_msg.max_speed_x = speed_x
goal_msg.max_speed_y = speed_y
goal_msg.max_speed_z = speed_z
goal_msg.yaw.mode = yaw_mode
if yaw_angle:
goal_msg.yaw.angle = yaw_angle
try:
return super().start(goal_msg, wait_result)
except self.GoalRejected as err:
self.__drone.get_logger().warn(str(err))
return False
[docs]
def modify(self, pose: tuple[Pose, PoseStamped], frame_id: str,
speed_x: float, speed_y: float, speed_z: float, yaw_mode: int,
yaw_angle: float):
"""Modify FollowReference behavior."""
goal_msg = FollowReference.Goal()
pose_stamped = self.__get_pose(pose)
goal_msg.target_pose.header.stamp = self.__drone.get_clock().now().to_msg()
goal_msg.target_pose.header.frame_id = frame_id # TODO
goal_msg.target_pose.point.x = pose_stamped.position.x
goal_msg.target_pose.point.y = pose_stamped.position.y
goal_msg.target_pose.point.z = pose_stamped.position.z
goal_msg.max_speed_x = speed_x
goal_msg.max_speed_y = speed_y
goal_msg.max_speed_z = speed_z
goal_msg.yaw.mode = yaw_mode
if yaw_angle:
goal_msg.yaw.angle = yaw_angle
return super().modify(goal_msg)
def __get_pose(self, pose: tuple[Pose, PoseStamped]):
"""Get pose msg."""
if isinstance(pose, Pose):
return pose
if isinstance(pose, PoseStamped):
return pose.pose
raise self.GoalRejected('Goal format invalid')