def __init__(self, target, maxSpeed=0.0):
"""
@type target: ram.motion.seek.PointTarget
@param target: Target to attempt to reach
"""
Motion.__init__(self)
self._running = False
self._target = target
self._maxSpeed = maxSpeed
self._conn = target.subscribe(PointTarget.UPDATE, self._onBouyUpdate)
def __init__(self, target, maxSpeed=0.0):
"""
@type target: ram.motion.seek.PointTarget
@param target: Target to attempt to reach
"""
Motion.__init__(self)
self._running = False
self._target = target
self._maxSpeed = maxSpeed
self._conn = target.subscribe(PointTarget.UPDATE, self._onBouyUpdate)
def __init__(
self,
target,
maxSpeed=0.0,
depthGain=1,
translate=False,
translateGain=1,
iDepthGain=0,
dDepthGain=0,
iTranslateGain=0,
dTranslateGain=0,
yawGain=1.0,
maxDepthDt=0,
alignmentThreshold=0.1,
maxYaw=None,
):
"""
@type target: ram.motion.seek.PointTarget
@param target: Target to attempt to reach
"""
_type = Motion.ORIENTATION
if 0 != depthGain:
_type = _type | Motion.DEPTH
if 0 != maxSpeed or translate:
_type = _type | Motion.IN_PLANE
Motion.__init__(self, _type=_type)
self._first = True
self._running = False
self._target = target
self._maxSpeed = maxSpeed
self._alignmentThreshold = alignmentThreshold
self._yawGain = yawGain
self._maxYaw = maxYaw
self._translate = translate
self._translateGain = translateGain
self._iTranslateGain = iTranslateGain
self._dTranslateGain = dTranslateGain
self._sumX = 0
self._oldX = 0
self._depthGain = depthGain
self._iDepthGain = iDepthGain
self._dDepthGain = dDepthGain
self._maxDepthDt = maxDepthDt
self._sumDepth = 0
self._oldDepth = 0
self._lastSeekTime = 0.0
self._conn = target.subscribe(PointTarget.UPDATE, self._onBouyUpdate)
def __init__(self,
target,
maxSpeed=0.0,
depthGain=1,
translate=False,
translateGain=1,
iDepthGain=0,
dDepthGain=0,
iTranslateGain=0,
dTranslateGain=0,
yawGain=1.0,
maxDepthDt=0,
alignmentThreshold=0.1,
maxYaw=None):
"""
@type target: ram.motion.seek.PointTarget
@param target: Target to attempt to reach
"""
_type = Motion.ORIENTATION
if 0 != depthGain:
_type = _type | Motion.DEPTH
if 0 != maxSpeed or translate:
_type = _type | Motion.IN_PLANE
Motion.__init__(self, _type=_type)
self._first = True
self._running = False
self._target = target
self._maxSpeed = maxSpeed
self._alignmentThreshold = alignmentThreshold
self._yawGain = yawGain
self._maxYaw = maxYaw
self._translate = translate
self._translateGain = translateGain
self._iTranslateGain = iTranslateGain
self._dTranslateGain = dTranslateGain
self._sumX = 0
self._oldX = 0
self._depthGain = depthGain
self._iDepthGain = iDepthGain
self._dDepthGain = dDepthGain
self._maxDepthDt = maxDepthDt
self._sumDepth = 0
self._oldDepth = 0
self._lastSeekTime = 0.0
self._conn = target.subscribe(PointTarget.UPDATE, self._onBouyUpdate)
def __init__(self, legTime, sweepAngle, speed, direction = None):
"""
Drives a forward zig-zag pattern
"""
Motion.__init__(self, _type = Motion.IN_PLANE | Motion.ORIENTATION)
self._first = True
self._legTime = legTime
self._sweepAngle = sweepAngle
self._speed = speed
self._connections = []
self._timer = None
self._inLeg = False
self._direction = direction
def __init__(self, legTime, sweepAngle, speed, direction = None):
"""
Drives a forward zig-zag pattern
"""
Motion.__init__(self, _type = Motion.IN_PLANE | Motion.ORIENTATION)
self._first = True
self._legTime = legTime
self._sweepAngle = sweepAngle
self._speed = speed
self._connections = []
self._timer = None
self._inLeg = False
self._direction = direction
def __init__(self, legTime, sweepAngle, speed):
"""
Drives a zig-zag which is indepdent of orientation
"""
Motion.__init__(self, _type = Motion.IN_PLANE)
self._first = True
self._legTime = legTime
self._sweepAngle = sweepAngle
self._speed = speed
self._connections = []
self._timer = None
self._direction = None
self._forwardDirection = None
def __init__(self, legTime, sweepAngle, speed):
"""
Drives a zig-zag which is indepdent of orientation
"""
Motion.__init__(self, _type = Motion.IN_PLANE)
self._first = True
self._legTime = legTime
self._sweepAngle = sweepAngle
self._speed = speed
self._connections = []
self._timer = None
self._direction = None
self._forwardDirection = None
def __init__(self, target, maxSpeed = 0.0, maxSidewaysSpeed = 0.0,
speedGain = 1.0, sidewaysSpeedGain = 1.0,
_type = Motion.IN_PLANE,
iSpeedGain = 0.0, dSpeedGain = 0.0, iSidewaysSpeedGain = 0.0,
dSidewaysSpeedGain = 0.0):
"""
@type target: ram.motion.common.Target
@param target: Target to attempt to reach
"""
Motion.__init__(self, _type = _type)
self._xDesired = 0
self._yDesired = 0
self._running = False
self._target = target
self._maxSpeed = maxSpeed
self._minSpeed = -1 * maxSpeed
self._sumSpeed = 0.0
self._oldSpeed = 0.0
self._iSpeedGain = iSpeedGain
self._dSpeedGain = dSpeedGain
self._lastSpeedRunTime = 0.0
self._maxSidewaysSpeed = maxSidewaysSpeed
self._minSidewaysSpeed = -1 * maxSidewaysSpeed
self._sumSidewaysSpeed = 0.0
self._oldSidewaysSpeed = 0.0
self._iSidewaysSpeedGain = iSidewaysSpeedGain
self._dSidewaysSpeedGain = dSidewaysSpeedGain
self._lastSidewaysSpeedRunTime = 0.0
self._speedGain = speedGain
self._sidewaysSpeedGain = sidewaysSpeedGain
self._conn = target.subscribe(Target.UPDATE, self._onTargetUpdate)
