"""Trajectory Generation 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'
import typing
from as2_msgs.msg import YawMode
from as2_python_api.behavior_actions.trajectory_generation_behavior \
import TrajectoryGenerationBehavior
from as2_python_api.modules.module_base import ModuleBase
from nav_msgs.msg import Path
if typing.TYPE_CHECKING:
from ..drone_interface import DroneInterface
[docs]
class TrajectoryGenerationModule(ModuleBase, TrajectoryGenerationBehavior):
"""Trajectory Generation Module."""
__alias__ = 'trajectory_generation'
def __init__(self, drone: 'DroneInterface') -> None:
super().__init__(drone, self.__alias__)
def __call__(self, path: Path, speed: float,
yaw_mode: int = YawMode.KEEP_YAW,
yaw_angle: float = None, frame_id: str = 'earth', wait: bool = True) -> bool:
"""
Trajectory generation.
:param path: path to follow
:type path: Path
:param speed: speed (m/s) limit
: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.__traj_generation(path, speed, yaw_mode, yaw_angle, frame_id, wait)
def __traj_generation(self, path: Path, speed: float, yaw_mode: int, yaw_angle: float,
frame_id: str = 'earth', wait: bool = True) -> bool:
"""
Trajectory generation.
:param path: path to follow
:type path: Path
:param speed: speed (m/s) limit
: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
"""
return self.start(path=path, speed=speed, yaw_mode=yaw_mode, yaw_angle=yaw_angle,
frame_id=frame_id, wait_result=wait)
# Method simplifications
[docs]
def traj_generation_with_keep_yaw(self, path: Path, speed: float,
frame_id: str = 'earth') -> bool:
"""
Trajectory generation. With keep yaw mode. Blocking call.
:param path: path to follow
:type path: Path
:param speed: speed (m/s) limit
: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.__traj_generation(path, speed, yaw_mode=YawMode.KEEP_YAW, yaw_angle=0.0,
frame_id=frame_id)
[docs]
def traj_generation_with_yaw(self, path: Path, speed: float, angle: float,
frame_id: str = 'earth') -> bool:
"""
Trajectory generation. With desired yaw angle. Blocking call.
:param path: path to follow
:type path: Path
:param speed: speed (m/s) limit
:type speed: float
: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
:return: True if was accepted, False otherwise
:rtype: bool
"""
return self.__traj_generation(path, speed, yaw_mode=YawMode.FIXED_YAW, yaw_angle=angle,
frame_id=frame_id)
[docs]
def traj_generation_with_path_facing(self, path: Path, speed: float,
frame_id: str = 'earth') -> bool:
"""
Trajectory generation. With path facing yaw mode. Blocking call.
:param path: path to follow
:type path: Path
:param speed: speed (m/s) limit
: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.__traj_generation(path, speed, yaw_mode=YawMode.PATH_FACING, yaw_angle=0.0,
frame_id=frame_id)
[docs]
def traj_generation_with_face_reference(self, path: Path, speed: float,
frame_id: str = 'earth') -> bool:
"""
Trajectory generation. With path facing yaw mode. Blocking call.
:param path: path to follow
:type path: Path
:param speed: speed (m/s) limit
: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.__traj_generation(path, speed, yaw_mode=YawMode.FACE_REFERENCE, yaw_angle=0.0,
frame_id=frame_id)