"""Navigate To Module."""
from __future__ import annotations
# Copyright 2024 Universidad Politécnica de Madrid
#
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# modification, are permitted provided that the following conditions are met:
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# * Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
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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'
__copyright__ = 'Copyright (c) 2024 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.navigate_to_behavior import NavigateToBehavior
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 NavigateToModule(ModuleBase, NavigateToBehavior):
"""Navigate to Module."""
__alias__ = 'navigate_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.FIXED_YAW, yaw_angle: float = None,
frame_id: str = 'earth', wait: bool = True) -> None:
"""
Navigate to point (m) with speed (m/s).
:type x: float
:type y: float
:type z: float
:type speed: float
:type yaw_mode: int
:type yaw_angle: float
:type wait: bool
"""
self.__navigate_to(x, y, z, speed, yaw_mode, yaw_angle, frame_id, wait)
def __navigate_to(self, x: float, y: float, z: float,
speed: float, yaw_mode: int, yaw_angle: float,
frame_id: str = 'earth', wait: bool = True) -> None:
msg = Pose()
msg.position.x = (float)(x)
msg.position.y = (float)(y)
msg.position.z = (float)(z)
self.start(msg, speed, yaw_mode, yaw_angle, frame_id, wait)
# Method simplifications
[docs]
def navigate_to(self, x: float, y: float, z: float, speed: float,
frame_id: str = 'earth') -> None:
"""
Navigate to point (m) with speed (m/s).
:type x: float
:type y: float
:type z: float
:type speed: float
"""
self.__navigate_to(x, y, z, speed, yaw_mode=YawMode.KEEP_YAW,
yaw_angle=None, frame_id=frame_id)
[docs]
def navigate_to_with_yaw(self, x: float, y: float, z: float, speed: float, angle: float,
frame_id: str = 'earth') -> None:
"""
Navigate to position with speed and yaw_angle.
:type x: float
:type y: float
:type z: float
:type speed: float
:type yaw_angle: float
"""
self.__navigate_to(x, y, z, speed, yaw_mode=YawMode.FIXED_YAW,
yaw_angle=angle, frame_id=frame_id)
[docs]
def navigate_to_path_facing(self, x: float, y: float, z: float, speed: float,
frame_id: str = 'earth') -> None:
"""
Navigate to position facing goal with speed.
:type x: float
:type y: float
:type z: float
:type speed: float
"""
self.__navigate_to(x, y, z, speed, yaw_mode=YawMode.PATH_FACING,
yaw_angle=None, frame_id=frame_id)
[docs]
def navigate_to_point(self, point: list[float], speed: float, frame_id: str = 'earth') -> None:
"""
Navigate to point (m) with speed (m/s).
:type point: List[float]
:type speed: float
"""
self.__navigate_to(point[0], point[1], point[2], speed,
yaw_mode=YawMode.KEEP_YAW, yaw_angle=None, frame_id=frame_id)
[docs]
def navigate_to_point_with_yaw(self, point: list[float], speed: float, angle: float,
frame_id: str = 'earth') -> None:
"""
Navigate to point with speed and yaw_angle.
:type point: List[float]
:type speed: float
:type ignore_yaw: bool, optional
"""
self.__navigate_to(point[0], point[1], point[2], speed,
yaw_mode=YawMode.FIXED_YAW, yaw_angle=angle, frame_id=frame_id)
[docs]
def navigate_to_point_path_facing(self, point: list[float], speed: float,
frame_id: str = 'earth') -> None:
"""
Navigate to point facing goal with speed.
:type point: List[float]
:type speed: float
"""
self.__navigate_to(point[0], point[1], point[2], speed,
yaw_mode=YawMode.PATH_FACING, frame_id=frame_id, yaw_angle=None)