Source code for as2_python_api.behavior_actions.follow_reference_behavior

"""FollowReference Behavior."""

from __future__ import annotations

# Copyright 2022 Universidad Politécnica de Madrid
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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')