Source code for as2_python_api.behavior_actions.point_gimbal_behavior

"""PointGimbal 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 PointGimbal
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 PointGimbalBehavior(BehaviorHandler): """PointGimbal Behavior.""" def __init__(self, drone: 'DroneInterfaceBase') -> None: self.__drone = drone try: super().__init__(drone, PointGimbal, 'PointGimbalBehavior') except self.BehaviorNotAvailable as err: self.__drone.get_logger().warn(str(err))
[docs] def start(self, pose: tuple[Pose, PoseStamped], frame_id: str, wait_result: bool = False) -> bool: """Start behavior.""" goal_msg = PointGimbal.Goal() pose_stamped = self.__get_pose(pose) goal_msg.control.target.header.stamp = self.__drone.get_clock().now().to_msg() goal_msg.control.target.header.frame_id = frame_id goal_msg.control.target.vector.x = pose_stamped.position.x goal_msg.control.target.vector.y = pose_stamped.position.y goal_msg.control.target.vector.z = pose_stamped.position.z 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): """Modify behavior.""" goal_msg = PointGimbal.Goal() pose_stamped = self.__get_pose(pose) goal_msg.control.target.header.stamp = self.__drone.get_clock().now().to_msg() goal_msg.control.target.header.frame_id = frame_id # TODO goal_msg.control.target.vector.x = pose_stamped.position.x goal_msg.control.target.vector.y = pose_stamped.position.y goal_msg.control.target.vector.z = pose_stamped.position.z 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')