Source code for as2_python_api.modules.go_to_gps_module

"""Go to GPS Module."""

from __future__ import annotations

# Copyright 2022 Universidad Politécnica de Madrid
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__authors__ = 'Pedro Arias Pérez, Miguel Fernández Cortizas, David Pérez Saura, Rafael Pérez Seguí'
__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.go_to_behavior import GoToBehavior
from as2_python_api.modules.module_base import ModuleBase
from geographic_msgs.msg import GeoPose

if TYPE_CHECKING:
    from ..drone_interface import DroneInterface


[docs] class GoToGpsModule(ModuleBase, GoToBehavior): """Go to GPS Module.""" __alias__ = 'go_to_gps' __deps__ = ['gps'] def __init__(self, drone: 'DroneInterface') -> None: super().__init__(drone, self.__alias__) def __call__(self, lat: float, lon: float, alt: float, speed: float, yaw_mode: int = YawMode.KEEP_YAW, yaw_angle: float = None, wait: bool = True) -> bool: """ Go to GPS point. :param lat: latitude (deg) of the point :type lat: float :param lon: longitude (deg) of the point :type lon: float :param alt: altitude (m) of the point :type alt: float :param speed: speed (m/s) to go to the point :type speed: float :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 True :type wait: bool, optional :return: True if was accepted, False otherwise :rtype: bool """ return self.__go_to(lat, lon, alt, speed, yaw_mode, yaw_angle, wait) def __go_to(self, lat: float, lon: float, alt: float, speed: float, yaw_mode: int, yaw_angle: float, wait: bool = True) -> bool: """ Go to GPS point. :param lat: latitude (deg) of the point :type lat: float :param lon: longitude (deg) of the point :type lon: float :param alt: altitude (m) of the point :type alt: float :param speed: speed (m/s) to go to the point :type speed: 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 True :type wait: bool, optional :return: True if was accepted, False otherwise :rtype: bool """ msg = GeoPose() msg.position.latitude = (float)(lat) msg.position.longitude = (float)(lon) msg.position.altitude = (float)(alt) return self.start(pose=msg, speed=speed, yaw_mode=yaw_mode, yaw_angle=yaw_angle, wait_result=wait) # Method simplications
[docs] def go_to_gps(self, lat: float, lon: float, alt: float, speed: float) -> bool: """ Go to GPS point. Blocking call. :param lat: latitude (deg) of the point :type lat: float :param lon: longitude (deg) of the point :type lon: float :param alt: altitude (m) of the point :type alt: float :param speed: speed (m/s) to go to the point :type speed: float :return: True if was accepted, False otherwise :rtype: bool """ return self.__go_to(lat, lon, alt, speed, yaw_mode=YawMode.KEEP_YAW, yaw_angle=None)
[docs] def go_to_gps_with_yaw(self, lat: float, lon: float, alt: float, speed: float, angle: float) -> bool: """ Go to GPS point. With desired yaw angle. Blocking call. :param lat: latitude (deg) of the point :type lat: float :param lon: longitude (deg) of the point :type lon: float :param alt: altitude (m) of the point :type alt: float :param speed: speed (m/s) to go to the point :type speed: float :param yaw_angle: go to desired yaw angle (rad) :type yaw_angle: float :return: True if was accepted, False otherwise :rtype: bool """ return self.__go_to(lat, lon, alt, speed, yaw_mode=YawMode.FIXED_YAW, yaw_angle=angle)
[docs] def go_to_gps_path_facing(self, lat: float, lon: float, alt: float, speed: float) -> bool: """ Go to GPS point. With desired path facing. Blocking call. :param lat: latitude (deg) of the point :type lat: float :param lon: longitude (deg) of the point :type lon: float :param alt: altitude (m) of the point :type alt: float :param speed: speed (m/s) to go to the point :type speed: float :return: True if was accepted, False otherwise :rtype: bool """ return self.__go_to(lat, lon, alt, speed, yaw_mode=YawMode.PATH_FACING, yaw_angle=None)
[docs] def go_to_gps_point(self, waypoint: list[float], speed: float) -> bool: """ Go to GPS point. Blocking call. :param point: GPS point [lat, lon, alt] :type point: list[float] :param speed: speed (m/s) to go to the point :type speed: float :return: True if was accepted, False otherwise :rtype: bool """ return self.__go_to(waypoint[0], waypoint[1], waypoint[2], speed, yaw_mode=YawMode.KEEP_YAW, yaw_angle=None)
[docs] def go_to_gps_point_with_yaw(self, waypoint: list[float], speed: float, angle: float) -> bool: """ Go to GPS point. With desired yaw angle. Blocking call. :param point: GPS point [lat, lon, alt] :type point: list[float] :param speed: speed (m/s) to go to the point :type speed: float :param yaw_angle: go to desired yaw angle (rad) :type yaw_angle: float :return: True if was accepted, False otherwise :rtype: bool """ return self.__go_to(waypoint[0], waypoint[1], waypoint[2], speed, yaw_mode=YawMode.FIXED_YAW, yaw_angle=angle)
[docs] def go_to_gps_point_path_facing(self, waypoint: list[float], speed: float) -> bool: """ Go to GPS point. With desired path facing. Blocking call. :param point: GPS point [lat, lon, alt] :type point: list[float] :param speed: speed (m/s) to go to the point :type speed: float :return: True if was accepted, False otherwise :rtype: bool """ return self.__go_to(waypoint[0], waypoint[1], waypoint[2], speed, yaw_mode=YawMode.PATH_FACING, yaw_angle=None)