Source code for as2_python_api.modules.point_gimbal_module

"""Point Gimbal Module."""

# Copyright 2024 Universidad Politécnica de Madrid
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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_python_api.behavior_actions.point_gimbal_behavior import PointGimbalBehavior
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 PointGimbalModule(ModuleBase, PointGimbalBehavior): """Point Gimbal Module.""" __alias__ = 'point_gimbal' def __init__(self, drone: 'DroneInterface') -> None: super().__init__(drone, self.__alias__) def __call__(self, x: float, y: float, z: float, frame_id: str, wait: bool = False) -> bool: """ Point Gimbal to reference. :param x: x coordinate (m) to point gimbal to :type x: float :param y: y coordinate (m) to point gimbal to :type y: float :param z: z coordinate (m) to point gimbal to :type z: float :param frame_id: reference frame of the coordinates :type frame_id: str :param wait: blocking call, defaults to True :type wait: bool, optional :return: True if was accepted, False otherwise :rtype: bool """ return self.__point_gimbal(x, y, z, frame_id, wait) def __point_gimbal(self, x: float, y: float, z: float, frame_id: str, wait: bool = False) -> None: msg = Pose() msg.position.x = (float)(x) msg.position.y = (float)(y) msg.position.z = (float)(z) self.start(msg, frame_id, wait) # Method simplifications
[docs] def point_gimbal(self, x: float, y: float, z: float, frame_id: str) -> bool: """ Point Gimbal to reference, blocking call. :param x: x coordinate (m) to point gimbal to :type x: float :param y: y coordinate (m) to point gimbal to :type y: float :param z: z coordinate (m) to point gimbal to :type z: float :param frame_id: reference frame of the coordinates :type frame_id: str :return: True if was accepted, False otherwise :rtype: bool """ return self.__point_gimbal(x, y, z, frame_id)