"""Drone interface with motion handlers to teleoperate."""
# Copyright 2022 Universidad Politécnica de Madrid
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__authors__ = 'Miguel Fernández Cortizas, Pedro Arias Pérez, David Pérez Saura, Rafael Pérez Seguí'
__copyright__ = 'Copyright (c) 2022 Universidad Politécnica de Madrid'
__license__ = 'BSD-3-Clause'
from as2_python_api.drone_interface import DroneInterface
from as2_python_api.modules.motion_reference_handler_module import MotionReferenceHandlerModule
[docs]
class DroneInterfaceTeleop(DroneInterface):
"""Drone interface for teleoperation."""
def __init__(self, drone_id: str = 'drone0', verbose: bool = False,
use_sim_time: bool = False, spin_rate: float = 20.0) -> None:
"""
Create DroneInterfaceTeleop.
:param drone_id: drone namespace, defaults to "drone0"
:type drone_id: str, optional
:param verbose: output mode, defaults to False
:type verbose: bool, optional
:param use_sim_time: use simulation time, defaults to False
:type use_sim_time: bool, optional
:param spin_rate: spin rate (Hz), defaults to 20
:type spin_rate: float, optional
"""
super().__init__(drone_id=drone_id, verbose=verbose,
use_sim_time=use_sim_time, spin_rate=spin_rate)
self.motion_ref_handler = MotionReferenceHandlerModule(drone=self)