"""Trajectory Generation Behavior."""
# Copyright 2024 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"
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__authors__ = 'Pedro Arias Pérez'
__copyright__ = 'Copyright (c) 2024 Universidad Politécnica de Madrid'
__license__ = 'BSD-3-Clause'
from typing import TYPE_CHECKING, Union
from as2_msgs.action import GeneratePolynomialTrajectory
from as2_msgs.msg import PoseStampedWithID, PoseWithID, YawMode
from nav_msgs.msg import Path
from .behavior_handler import BehaviorHandler
from ..tools.utils import path_to_list
if TYPE_CHECKING:
from ..drone_interface_base import DroneInterfaceBase
[docs]
class TrajectoryGenerationBehavior(BehaviorHandler):
"""Trajectory Generation Behavior."""
def __init__(self, drone: 'DroneInterfaceBase') -> None:
self.__drone = drone
try:
super().__init__(drone, GeneratePolynomialTrajectory, 'TrajectoryGeneratorBehavior')
except self.BehaviorNotAvailable as err:
self.__drone.get_logger().warn(str(err))
[docs]
def start(self, path: Union[list, tuple, Path, PoseWithID, PoseStampedWithID],
speed: float, yaw_mode: int, yaw_angle: float, frame_id: str = 'earth',
wait_result: bool = True) -> bool:
"""Start behavior."""
goal_msg = GeneratePolynomialTrajectory.Goal()
goal_msg.stamp = self.__drone.get_clock().now().to_msg()
goal_msg.path = self.__get_path(path, frame_id)
yaw_msg = YawMode()
yaw_msg.angle = yaw_angle
yaw_msg.mode = yaw_mode
goal_msg.yaw = yaw_msg
goal_msg.max_speed = speed
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, path: Union[list, tuple, Path, PoseWithID, PoseStampedWithID],
speed: float, yaw_mode: int, yaw_angle: float, frame_id: str = 'earth'):
"""Modify behavior."""
goal_msg = GeneratePolynomialTrajectory.Goal()
goal_msg.stamp = self.__drone.get_clock().now().to_msg()
goal_msg.path = self.__get_path(path, frame_id)
yaw_msg = YawMode()
yaw_msg.angle = yaw_angle
yaw_msg.mode = yaw_mode
goal_msg.yaw = yaw_msg
goal_msg.max_speed = speed
return super().modify(goal_msg)
def __get_pose_stamped_with_id(
self, pose: Union[list, tuple, PoseWithID], frame_id: str) -> PoseStampedWithID:
"""Get pose stamped with id."""
pose_stamped = PoseStampedWithID()
pose_stamped.pose.header.frame_id = frame_id
pose_stamped.pose.header.stamp = self.__drone.get_clock().now().to_msg()
if isinstance(pose, PoseWithID):
pose_stamped.pose = pose.pose
pose_stamped.id = pose.id
elif isinstance(pose, tuple):
pose_stamped.pose.pose.position.x = float(pose[0])
pose_stamped.pose.pose.position.y = float(pose[1])
pose_stamped.pose.pose.position.z = float(pose[2])
elif isinstance(pose, list):
pose_stamped.pose.pose.position.x = float(pose[0])
pose_stamped.pose.pose.position.y = float(pose[1])
pose_stamped.pose.pose.position.z = float(pose[2])
return pose_stamped
def __list_to_pose_stamped_with_id(
self, path: Union[list, tuple, PoseWithID], frame_id: str) -> list[PoseStampedWithID]:
"""Convert list to pose stamped with id."""
point_list = []
waypoint_id = 0
for waypoint in path:
pose_stamped = self.__get_pose_stamped_with_id(waypoint, frame_id)
pose_stamped.id = str(waypoint_id)
point_list.append(pose_stamped)
waypoint_id += 1
return point_list
def __get_path(
self, path: Union[list, tuple, Path, PoseWithID, PoseStampedWithID], frame_id: str):
"""Get trajectory msg."""
# If is a list
if isinstance(path, list):
point_list = []
if len(path) == 0:
raise self.GoalRejected('Goal format invalid')
# Waypoints is a list of 3 elements
if isinstance(path[0], float):
if len(path) != 3:
raise self.GoalRejected('Goal format invalid')
return self.__list_to_pose_stamped_with_id([path], frame_id)
# Waypoints is a list of lists, each list with 3 elements
if isinstance(path[0], list):
return self.__list_to_pose_stamped_with_id(path, frame_id)
# Waypoints is list of PoseWithID
elif isinstance(path[0], PoseWithID):
return self.__list_to_pose_stamped_with_id(path, frame_id)
# If is a list of PoseStampedWithID
elif isinstance(path[0], PoseStampedWithID):
return path
else:
raise self.GoalRejected('Goal format invalid')
# If is a tuple
elif isinstance(path, tuple):
point_list = [list(path)]
return self.__get_path(point_list, frame_id)
# If is a Path
elif isinstance(path, Path):
point_list = path_to_list(path)
return self.__get_path(point_list, frame_id)
# If is a PoseWithID
elif isinstance(path, PoseWithID):
return self.__get_path([path], frame_id)
# If is a PoseStampedWithID
elif isinstance(path, PoseStampedWithID):
return [path]
else:
raise self.GoalRejected('Goal format invalid')