"""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)