"""Navigate To Behavior."""
from __future__ import annotations
# Copyright 2024 Universidad Politécnica de Madrid
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__authors__ = 'Pedro Arias Pérez'
__copyright__ = 'Copyright (c) 2024 Universidad Politécnica de Madrid'
__license__ = 'BSD-3-Clause'
import typing
from as2_msgs.action import NavigateToPoint
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 NavigateToBehavior(BehaviorHandler):
"""Navigate To Behavior class."""
def __init__(self, drone: 'DroneInterfaceBase') -> None:
self.__drone = drone
try:
super().__init__(drone, NavigateToPoint, 'path_planner')
except self.BehaviorNotAvailable as err:
self.__drone.get_logger().warn(str(err))
[docs]
def start(self, pose: Pose | PoseStamped, speed: float, yaw_mode: int, yaw_angle: float,
frame_id: str = 'earth', wait_result: bool = True) -> bool:
goal_msg = NavigateToPoint.Goal()
goal_msg.point.header.stamp = self.__drone.get_clock().now().to_msg()
goal_msg.point.header.frame_id = frame_id
pose_ = self.__get_pose(pose)
goal_msg.point.point = pose_.position
goal_msg.navigation_speed = speed
goal_msg.yaw.mode = yaw_mode
if yaw_angle:
goal_msg.yaw.angle = yaw_angle
return super().start(goal_msg, wait_result)
[docs]
def modify(self, pose: Pose | PoseStamped, speed: float, yaw_mode: int, yaw_angle: float,
frame_id: str = 'earth'):
goal_msg = NavigateToPoint.Goal()
goal_msg.point.header.stamp = self.__drone.get_clock().now().to_msg()
goal_msg.point.header.frame_id = frame_id
pose_ = self.__get_pose(pose)
goal_msg.point.point = pose_.position
goal_msg.navigation_speed = speed
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: Pose | PoseStamped) -> Pose:
"""Get pose msg."""
if isinstance(pose, Pose):
return pose
if isinstance(pose, PoseStamped):
return pose.pose
raise self.GoalRejected('Goal format invalid')