Source code for as2_python_api.behavior_actions.trajectory_generation_behavior

"""Trajectory Generation Behavior."""

# 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'

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')