"""Go to Module."""
from __future__ import annotations
# Copyright 2022 Universidad Politécnica de Madrid
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# * 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.
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# * 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
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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 geometry_msgs.msg import Pose
if TYPE_CHECKING:
from ..drone_interface import DroneInterface
[docs]
class GoToModule(ModuleBase, GoToBehavior):
"""Go to Module."""
__alias__ = 'go_to'
def __init__(self, drone: 'DroneInterface') -> None:
super().__init__(drone, self.__alias__)
def __call__(self, x: float, y: float, z: float, speed: float,
yaw_mode: int = YawMode.KEEP_YAW, yaw_angle: float = None,
frame_id: str = 'earth', wait: bool = True) -> bool:
"""
Go to point.
:param x: x coordinate (m) to go to
:type x: float
:param y: y coordinate (m) to go to
:type y: float
:param z: z coordinate (m) to go to
:type z: 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 frame_id: reference frame of the coordinates, defaults to "earth"
:type frame_id: str, 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(x, y, z, speed, yaw_mode, yaw_angle, frame_id, wait)
def __go_to(self, x: float, y: float, z: float,
speed: float, yaw_mode: int, yaw_angle: float,
frame_id: str = 'earth', wait: bool = True) -> bool:
"""
Go to point.
:param x: x coordinate (m) to go to
:type x: float
:param y: y coordinate (m) to go to
:type y: float
:param z: z coordinate (m) to go to
:type z: 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 frame_id: reference frame of the coordinates, defaults to "earth"
:type frame_id: str, optional
:param wait: blocking call, defaults to True
:type wait: bool, optional
: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, speed, yaw_mode, yaw_angle, frame_id, wait)
# Method simplifications
[docs]
def go_to(self, x: float, y: float, z: float, speed: float,
frame_id: str = 'earth') -> bool:
"""
Go to point, blocking call.
:param x: x coordinate (m) to go to
:type x: float
:param y: y coordinate (m) to go to
:type y: float
:param z: z coordinate (m) to go to
:type z: float
:param speed: speed (m/s) to go to the point
:type speed: float
:param frame_id: reference frame of the coordinates, defaults to "earth"
:type frame_id: str, optional
:return: True if was accepted, False otherwise
:rtype: bool
"""
return self.__go_to(x, y, z, speed,
yaw_mode=YawMode.KEEP_YAW, yaw_angle=None, frame_id=frame_id)
[docs]
def go_to_with_yaw(self, x: float, y: float, z: float, speed: float, angle: float,
frame_id: str = 'earth') -> bool:
"""
Go to point. With desired yaw angle (degrees). Blocking call.
:param x: x coordinate (m) to go to
:type x: float
:param y: y coordinate (m) to go to
:type y: float
:param z: z coordinate (m) to go to
:type z: float
:param speed: speed (m/s) to go to the point
:type speed: float
:param yaw_angle: yaw angle
:type yaw_angle: float
:param frame_id: reference frame of the coordinates, defaults to "earth"
:type frame_id: str, optional
:return: True if was accepted, False otherwise
:rtype: bool
"""
return self.__go_to(x, y, z, speed,
yaw_mode=YawMode.FIXED_YAW, yaw_angle=angle, frame_id=frame_id)
[docs]
def go_to_path_facing(self, x: float, y: float, z: float, speed: float,
frame_id: str = 'earth') -> bool:
"""
Go to point. With path facing yaw mode. Blocking call.
:param x: x coordinate (m) to go to
:type x: float
:param y: y coordinate (m) to go to
:type y: float
:param z: z coordinate (m) to go to
:type z: float
:param speed: speed (m/s) to go to the point
:type speed: float
:param frame_id: reference frame of the coordinates, defaults to "earth"
:type frame_id: str, optional
:return: True if was accepted, False otherwise
:rtype: bool
"""
return self.__go_to(x, y, z, speed,
yaw_mode=YawMode.PATH_FACING, yaw_angle=None, frame_id=frame_id)
[docs]
def go_to_point(self, point: list[float], speed: float, frame_id: str = 'earth') -> bool:
"""
Go to point. With keep yaw mode. Blocking call.
:param point: [x, y, z] (m) coordinates to go to
:type point: list[float]
:param speed: speed (m/s) to go to the point
:type speed: float
:param frame_id: reference frame of the coordinates, defaults to "earth"
:type frame_id: str, optional
:return: True if was accepted, False otherwise
:rtype: bool
"""
return self.__go_to(point[0], point[1], point[2],
speed, yaw_mode=YawMode.KEEP_YAW, yaw_angle=None, frame_id=frame_id)
[docs]
def go_to_point_with_yaw(self, point: list[float], speed: float, angle: float,
frame_id: str = 'earth') -> bool:
"""
Go to point. With desired yaw angle (degrees). Blocking call.
:param point: [x, y, z] (m) coordinates to go to
:type point: list[float]
:param speed: speed (m/s) to go to the point
:type speed: float
:param yaw_angle: yaw angle
:type yaw_angle: float
:param frame_id: reference frame of the coordinates, defaults to "earth"
:type frame_id: str, optional
:return: True if was accepted, False otherwise
:rtype: bool
"""
return self.__go_to(point[0], point[1], point[2],
speed, yaw_mode=YawMode.FIXED_YAW, yaw_angle=angle, frame_id=frame_id)
[docs]
def go_to_point_path_facing(self, point: list[float], speed: float,
frame_id: str = 'earth') -> bool:
"""
Go to point. With path facing yaw mode. Blocking call.
:param point: [x, y, z] (m) coordinates to go to
:type point: list[float]
:param speed: speed (m/s) to go to the point
:type speed: float
:param frame_id: reference frame of the coordinates, defaults to "earth"
:type frame_id: str, optional
:return: True if was accepted, False otherwise
:rtype: bool
"""
return self.__go_to(point[0], point[1], point[2],
speed, yaw_mode=YawMode.PATH_FACING, frame_id=frame_id, yaw_angle=None)