def create_new_position(self, position) :
try:
position.position_id = self.fh.pick_new_id()
(position.point, position.rpy, position.quaternion) = get_forward_kinematic(position.joints)
self.fh.write_position(position)
return(position.position_name)
except NiryoOneFileException as e:
return None
def update_position(self, position, position_data):
position.position_name = position_data.position_name
position.joints = position_data.joints
(position.point, position.rpy, position.quaternion) = get_forward_kinematic(position.joints)
try:
self.fh.write_position(position)
except NiryoOneFileException as e:
return False
return True
def update_position(self, position, position_data):
try:
self.parameters_validation.validate_joints(position_data.joints)
except RobotCommanderException as e:
rospy.logwarn("Invalid joints value when updating position : " + str(e.message))
return False , "Could not update position : " + str(e.message)
position.joints = position_data.joints
(position.point, position.rpy, position.quaternion) = get_forward_kinematic(position.joints)
try:
self.fh.write_position(position)
except NiryoOneFileException as e:
return False , "Could not update position : " + str(e)
return True , "Position has been updated"
def create_new_position(self, position) :
if self.fh.check_position_name(position.name) == False :
return None, "Failed to create new position : position " + str(position.name) + " already exists"
try:
self.parameters_validation.validate_joints(position.joints)
except RobotCommanderException as e:
rospy.logwarn("Invalid joints values when creating position : " + str(e.message))
return None, "Failed to create new position : " + str(e.message)
try:
(position.point, position.rpy, position.quaternion) = get_forward_kinematic(position.joints)
self.fh.write_position(position)
return position.name, "Position has been created"
except NiryoOneFileException as e:
return None, "Failed to create new position : "+ str(e)