clearpath_config.common.types.accessory module
- class clearpath_config.common.types.accessory.Accessory(name: str, parent: str = 'default_mount', xyz: List[float] = [0.0, 0.0, 0.0], rpy: List[float] = [0.0, 0.0, 0.0])
Bases:
object
- PARENT = 'default_mount'
- RPY = [0.0, 0.0, 0.0]
- XYZ = [0.0, 0.0, 0.0]
- static assert_is_supported()
Override this method to temporarily disable accessories that are not currently supported.
When disabling an accessory, raise a clearpath_config.common.types.exception.UnsupportedAccessoryException with a suitable mesage (e.g. ‘SpamEggs driver is not yet released for ROS 2 Jazzy’)
@return None
- @exception Raises a clearpath_config.common.types.exception.UnsupportedAccessoryException
if the accessory is not supported
- static assert_valid_link(link: str) None
- static assert_valid_triplet(tri: List[float], msg: str = None) None
- from_dict(d: dict) None
- get_name() str
- get_parent() str
- get_rpy() List[float]
- get_xyz() List[float]
- property is_deprecated
Override this method to indicate that this accessory has been deprecated.
Deprecated accessories may be removed completely in the future. See: - is_supported - assert_is_supported
When flagging an accessory for deprecation, simply override it to return True
- property is_suppported
- set_name(name: str) None
- set_parent(parent: str) None
- set_rpy(rpy: List[float]) None
- set_xyz(xyz: List[float]) None
- to_dict() dict