as2_motion_reference_handlers.basic_motion_references module

Implementation of a motion reference handler base.

class as2_motion_reference_handlers.basic_motion_references.BasicMotionReferenceHandler(node: rclpy.node.Node)

Bases: object

Implementation of a motion reference handler base.

check_mode() → bool: Check if the current mode is the desired mode.

send_pose_command() → bool: Send a pose command.

send_trajectory_command() → bool: Send a trajectory command.

send_twist_command() → bool: Send a twist command.

class as2_motion_reference_handlers.basic_motion_references.BasicMotionReferencesBase(*args, **kwargs)

Bases: object

Implementation of a motion reference handler base for singletons.

number_of_instances_ = -1

publish_command_pose(_node: rclpy.node.Node, _pose: geometry_msgs.msg.PoseStamped): Publish a pose command.

publish_command_trajectory(_node: rclpy.node.Node, _trajectory: as2_msgs.msg.TrajectoryPoint): Publish a trajectory command.

publish_command_twist(_node: rclpy.node.Node, _twist: geometry_msgs.msg.TwistStamped): Publish a twist command.

class as2_motion_reference_handlers.basic_motion_references.MotionReferenceHandlerBaseData(command_pose_pub_: rclpy.publisher.Publisher, command_twist_pub_: rclpy.publisher.Publisher, command_traj_pub_: rclpy.publisher.Publisher)

Bases: object

Implementation of a motion reference handler base data.

command_pose_pub_: rclpy.publisher.Publisher

command_traj_pub_: rclpy.publisher.Publisher

command_twist_pub_: rclpy.publisher.Publisher

class as2_motion_reference_handlers.basic_motion_references.Singleton

Bases: type

Implementation of a singleton class.