Public Member Functions | |
| def | __eq__ (self, other) |
| def | __init__ (self, x=0, y=0, z=0, max_forward_speed=0, heading_offset=0, use_fixed_heading=False, inertial_frame_id='world', radius_acceptance=0.0) |
| def | __ne__ (self, other) |
| def | __str__ (self) |
| def | calculate_heading (self, target) |
| def | dist (self, pos) |
| def | from_message (self, msg) |
| def | get_color (self) |
| def | get_final_color (self) |
| def | heading (self) |
| def | heading (self, angle) |
| def | heading_offset (self) |
| def | inertial_frame_id (self) |
| def | inertial_frame_id (self, frame_id) |
| def | max_forward_speed (self) |
| def | max_forward_speed (self, vel) |
| def | pos (self) |
| def | pos (self, new_pos) |
| def | radius_of_acceptance (self) |
| def | radius_of_acceptance (self, radius) |
| def | to_message (self) |
| def | using_heading_offset (self) |
| def | violates_constraint (self) |
| def | violates_constraint (self, flag) |
| def | x (self) |
| def | y (self) |
| def | z (self) |
Static Public Attributes | |
| list | FAILED_WAYPOINT = [1.0, 0.0, 0.0] |
| list | FINAL_WAYPOINT_COLOR = [1.0, 131.0 / 255, 0.0] |
| list | OK_WAYPOINT = [31. / 255, 106. / 255, 226. / 255] |
Private Attributes | |
| _heading | |
| _heading_offset | |
| _inertial_frame_id | |
| _max_forward_speed | |
| _radius_acceptance | |
| _use_fixed_heading | |
| _violates_constraint | |
| _x | |
| _y | |
| _z | |
Detailed Description
Waypoint data structure > *Attributes* * `FINAL_WAYPOINT_COLOR` (*type:* list of `float`, *value:* `[1.0, 0.5737, 0.0]`): RGB color for marker of the final waypoint in RViz * `OK_WAYPOINT` (*type:* list of `float`, *value:* `[0.1216, 0.4157, 0.8863]`): RGB color for marker of a successful waypoint in RViz * `FAILED_WAYPOINT` (*type:* list of `float`, *value:* `[1.0, 0.0, 0.0]`): RGB color for marker of a failed waypoint in RViz > *Input arguments* * `x` (*type:* `float`, *default:* `0`): X coordinate in meters * `y` (*type:* `float`, *default:* `0`): Y coordinate in meters * `z` (*type:* `float`, *default:* `0`): Z coordinate in meters * `max_forward_speed` (*type:* `float`, *default:* `0`): Reference maximum forward speed in m/s * `heading_offset` (*type:* `float`, *default:* `0`): Heading offset to be added to the computed heading reference in radians * `use_fixed_heading` (*type:* `float`, *default:* `False`): Use the heading offset as a fixed heading reference in radians * `inertial_frame_id` (*type:* `str`, *default:* `'world'`): Name of the inertial reference frame, options are `world` or `world_ned` * `radius_acceptance` (*type:* `float`, *default:* `0`): Radius around the waypoint where the vehicle can be considered to have reached the waypoint
Definition at line 19 of file waypoint.py.
Constructor & Destructor Documentation
| def uuv_waypoints.waypoint.Waypoint.__init__ | ( | self, | |
x = 0, |
|||
y = 0, |
|||
z = 0, |
|||
max_forward_speed = 0, |
|||
heading_offset = 0, |
|||
use_fixed_heading = False, |
|||
inertial_frame_id = 'world', |
|||
radius_acceptance = 0.0 |
|||
| ) |
Definition at line 45 of file waypoint.py.
Member Function Documentation
| def uuv_waypoints.waypoint.Waypoint.__eq__ | ( | self, | |
| other | |||
| ) |
Definition at line 59 of file waypoint.py.
| def uuv_waypoints.waypoint.Waypoint.__ne__ | ( | self, | |
| other | |||
| ) |
Definition at line 62 of file waypoint.py.
| def uuv_waypoints.waypoint.Waypoint.__str__ | ( | self | ) |
Definition at line 65 of file waypoint.py.
| def uuv_waypoints.waypoint.Waypoint.calculate_heading | ( | self, | |
| target | |||
| ) |
Compute heading to target waypoint > *Input arguments* * `target` (*type:* `uuv_waypoints/Waypoint`): Target waypoint > *Returns* Heading angle in radians
Definition at line 231 of file waypoint.py.
| def uuv_waypoints.waypoint.Waypoint.dist | ( | self, | |
| pos | |||
| ) |
Compute distance of waypoint to a point > *Input arguments* * `pos` (*type:* list of `float`): 3D position vector > *Returns* Distance to point in meters
Definition at line 216 of file waypoint.py.
| def uuv_waypoints.waypoint.Waypoint.from_message | ( | self, | |
| msg | |||
| ) |
Set waypoint parameters from `uuv_control_msgs/Waypoint` message > *Input arguments* * `msg` (*type:* `uuv_control_msgs/Waypoint`): Waypoint message
Definition at line 179 of file waypoint.py.
| def uuv_waypoints.waypoint.Waypoint.get_color | ( | self | ) |
Return the waypoint marker's color > *Returns* RGB color as a `list`
Definition at line 161 of file waypoint.py.
| def uuv_waypoints.waypoint.Waypoint.get_final_color | ( | self | ) |
Return the RGB color for the final waypoint > *Returns* RGB color as a `list`
Definition at line 170 of file waypoint.py.
| def uuv_waypoints.waypoint.Waypoint.heading | ( | self | ) |
`float`: Heading reference stored for this waypoint in radians
Definition at line 138 of file waypoint.py.
| def uuv_waypoints.waypoint.Waypoint.heading | ( | self, | |
| angle | |||
| ) |
Definition at line 143 of file waypoint.py.
| def uuv_waypoints.waypoint.Waypoint.heading_offset | ( | self | ) |
`float`: Heading offset in radians
Definition at line 133 of file waypoint.py.
| def uuv_waypoints.waypoint.Waypoint.inertial_frame_id | ( | self | ) |
`str`: Name of the inertial reference frame
Definition at line 73 of file waypoint.py.
| def uuv_waypoints.waypoint.Waypoint.inertial_frame_id | ( | self, | |
| frame_id | |||
| ) |
Definition at line 78 of file waypoint.py.
| def uuv_waypoints.waypoint.Waypoint.max_forward_speed | ( | self | ) |
`float`: Maximum reference forward speed
Definition at line 124 of file waypoint.py.
| def uuv_waypoints.waypoint.Waypoint.max_forward_speed | ( | self, | |
| vel | |||
| ) |
Definition at line 129 of file waypoint.py.
| def uuv_waypoints.waypoint.Waypoint.pos | ( | self | ) |
`numpy.ndarray`: Position 3D vector
Definition at line 98 of file waypoint.py.
| def uuv_waypoints.waypoint.Waypoint.pos | ( | self, | |
| new_pos | |||
| ) |
Definition at line 103 of file waypoint.py.
| def uuv_waypoints.waypoint.Waypoint.radius_of_acceptance | ( | self | ) |
`float`: Radius of acceptance in meters
Definition at line 147 of file waypoint.py.
| def uuv_waypoints.waypoint.Waypoint.radius_of_acceptance | ( | self, | |
| radius | |||
| ) |
Definition at line 152 of file waypoint.py.
| def uuv_waypoints.waypoint.Waypoint.to_message | ( | self | ) |
Convert waypoint to `uuv_control_msgs/Waypoint` message > *Returns* `uuv_control_msgs/Waypoint` message
Definition at line 198 of file waypoint.py.
| def uuv_waypoints.waypoint.Waypoint.using_heading_offset | ( | self | ) |
`float`: Flag to use the heading offset
Definition at line 157 of file waypoint.py.
| def uuv_waypoints.waypoint.Waypoint.violates_constraint | ( | self | ) |
`bool`: Flag on constraint violation for this waypoint
Definition at line 115 of file waypoint.py.
| def uuv_waypoints.waypoint.Waypoint.violates_constraint | ( | self, | |
| flag | |||
| ) |
Definition at line 120 of file waypoint.py.
| def uuv_waypoints.waypoint.Waypoint.x | ( | self | ) |
`float`: X coordinate of the waypoint in meters
Definition at line 83 of file waypoint.py.
| def uuv_waypoints.waypoint.Waypoint.y | ( | self | ) |
`float`: Y coordinate of the waypoint in meters
Definition at line 88 of file waypoint.py.
| def uuv_waypoints.waypoint.Waypoint.z | ( | self | ) |
`float`: Z coordinate of the waypoint in meters
Definition at line 93 of file waypoint.py.
Member Data Documentation
|
private |
Definition at line 144 of file waypoint.py.
|
private |
Definition at line 54 of file waypoint.py.
|
private |
Definition at line 52 of file waypoint.py.
|
private |
Definition at line 53 of file waypoint.py.
|
private |
Definition at line 57 of file waypoint.py.
|
private |
Definition at line 56 of file waypoint.py.
|
private |
Definition at line 55 of file waypoint.py.
|
private |
Definition at line 49 of file waypoint.py.
|
private |
Definition at line 50 of file waypoint.py.
|
private |
Definition at line 51 of file waypoint.py.
|
static |
Definition at line 42 of file waypoint.py.
|
static |
Definition at line 40 of file waypoint.py.
|
static |
Definition at line 41 of file waypoint.py.
The documentation for this class was generated from the following file: