"""Follow reference module."""
# Copyright 2022 Universidad Politécnica de Madrid
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#
# * Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
#
# * Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in the
# documentation and/or other materials provided with the distribution.
#
# * Neither the name of the the copyright holder nor the names of its
# contributors may be used to endorse or promote products derived from
# this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
__authors__ = 'Pedro Arias Pérez, Miguel Fernández Cortizas, David Pérez Saura, Rafael Pérez Seguí, \
Javier Melero Deza'
__copyright__ = 'Copyright (c) 2022 Universidad Politécnica de Madrid'
__license__ = 'BSD-3-Clause'
from typing import TYPE_CHECKING
from as2_msgs.msg import YawMode
from as2_python_api.behavior_actions.follow_reference_behavior import FollowReferenceBehavior
from as2_python_api.modules.module_base import ModuleBase
from geometry_msgs.msg import Pose
if TYPE_CHECKING:
from ..drone_interface import DroneInterface
[docs]
class FollowReferenceModule(ModuleBase, FollowReferenceBehavior):
"""Follow reference Module."""
__alias__ = 'follow_reference'
def __init__(self, drone: 'DroneInterface') -> None:
super().__init__(drone, self.__alias__)
def __call__(
self, x: float, y: float, z: float, frame_id: str,
speed_x: float = 0.0, speed_y: float = 0.0, speed_z: float = 0.0,
yaw_mode: int = YawMode.KEEP_YAW, yaw_angle: float = None, wait: bool = False) -> bool:
"""
Follow reference.
:param x: x position relative to the frame_id
:type x: float
:param y: y position relative to the frame_id
:type y: float
:param z: z position relative to the frame_id
:type z: float
:param frame_id: frame_id of the reference
:type frame_id: str
:param speed_x: speed limit, defaults to 0.0
:type speed_x: float, optional
:param speed_y: speed limit, defaults to 0.0
:type speed_y: float, optional
:param speed_z: speed limit, defaults to 0.0
:type speed_z: float, optional
:param yaw_mode: yaw mode, defaults to YawMode.KEEP_YAW
:type yaw_mode: int, optional
:param yaw_angle: yaw angle (rad) when fixed yaw is set, defaults to None
:type yaw_angle: float, optional
:param wait: blocking call, defaults to False
:type wait: bool, optional
:return: True if was accepted, False otherwise
:rtype: bool
"""
return self.__follow_reference(x, y, z, frame_id, speed_x, speed_y, speed_z,
yaw_mode, yaw_angle, wait)
def __follow_reference(
self, x: float, y: float, z: float, frame_id: str,
speed_x: float, speed_y: float, speed_z: float,
yaw_mode: int, yaw_angle: float, wait: bool = False) -> bool:
"""
Follow reference.
:param x: x position relative to the frame_id
:type x: float
:param y: y position relative to the frame_id
:type y: float
:param z: z position relative to the frame_id
:type z: float
:param frame_id: frame_id of the reference
:type frame_id: str
:param speed_x: speed limit
:type speed_x: float
:param speed_y: speed limit
:type speed_y: float
:param speed_z: speed limit
:type speed_z: float
:param yaw_mode: yaw mode
:type yaw_mode: int
:param yaw_angle: yaw angle (rad) when fixed yaw is set
:type yaw_angle: float
:param wait: blocking call, defaults to False
:type wait: bool
:return: True if was accepted, False otherwise
:rtype: bool
"""
msg = Pose()
msg.position.x = (float)(x)
msg.position.y = (float)(y)
msg.position.z = (float)(z)
return self.start(msg, frame_id, speed_x, speed_y,
speed_z, yaw_mode, yaw_angle, wait)
# Method simplifications
[docs]
def follow_reference(
self, x: float, y: float, z: float, frame_id: str,
speed_x: float, speed_y: float, speed_z: float) -> bool:
"""
Follow reference. With keep yaw. Non-blocking call.
:param x: x position relative to the frame_id
:type x: float
:param y: y position relative to the frame_id
:type y: float
:param z: z position relative to the frame_id
:type z: float
:param frame_id: frame_id of the reference
:type frame_id: str
:param speed_x: speed limit
:type speed_x: float
:param speed_y: speed limit
:type speed_y: float
:param speed_z: speed limit
:type speed_z: float
"""
return self.__follow_reference(x, y, z, frame_id, speed_x, speed_y, speed_z,
yaw_mode=YawMode.KEEP_YAW, yaw_angle=None)
[docs]
def follow_reference_with_yaw(
self, x: float, y: float, z: float, frame_id: str,
speed_x: float, speed_y: float, speed_z: float, angle: float) -> bool:
"""
Follow reference. With desired yaw angle. Non-blocking call.
:param x: x position relative to the frame_id
:type x: float
:param y: y position relative to the frame_id
:type y: float
:param z: z position relative to the frame_id
:type z: float
:param frame_id: frame_id of the reference
:type frame_id: str
:param speed_x: speed limit
:type speed_x: float
:param speed_y: speed limit
:type speed_y: float
:param speed_z: speed limit
:type speed_z: float
:param yaw_angle: yaw angle (rad)
:type yaw_angle: float
"""
return self.__follow_reference(x, y, z, frame_id, speed_x, speed_y, speed_z,
yaw_mode=YawMode.FIXED_YAW, yaw_angle=angle)
[docs]
def follow_reference_with_reference_facing(
self, x: float, y: float, z: float, frame_id: str,
speed_x: float, speed_y: float, speed_z: float) -> bool:
"""
Follow reference. With reference facing yaw mode. Non-blocking call.
:param x: x position relative to the frame_id
:type x: float
:param y: y position relative to the frame_id
:type y: float
:param z: z position relative to the frame_id
:type z: float
:param frame_id: frame_id of the reference
:type frame_id: str
:param speed_x: speed limit
:type speed_x: float
:param speed_y: speed limit
:type speed_y: float
:param speed_z: speed limit
:type speed_z: float
"""
return self.__follow_reference(x, y, z, frame_id, speed_x, speed_y, speed_z,
yaw_angle=None, yaw_mode=YawMode.YAW_TO_FRAME)