def clearing_polygon(self, clearing_polygon):
"""Set the clearing polygon for this configuration.
:param clearing_polygon: The polygon for clearing.
:type: A list of three or more dicts, each containing number values for keys 'x' and 'y'
"""
if clearing_polygon is None:
self._set('clearing_polygon', clearing_polygon)
elif isinstance(clearing_polygon, (list, tuple)):
if len(clearing_polygon) < 3:
raise ValidationError(
"Length of clearing polygon entry must be greater than or equal to 3 (given "
"length was %s)." % len(clearing_polygon))
for item in clearing_polygon:
if not isinstance(item, dict):
raise ValidationError(
"Provided point '%s' for clearing polygon entry is a %s instead of a dict."
% (item, type(item).__name__))
if len(item) == 2 and all(key in item for key in ('x', 'y')) and \
all(Number.is_finite(num) and Number.is_real_number(num) for num in item.values()):
continue
else:
raise ValidationError(
"Provided point %s for clearing polygon is not a length 2 dictionary "
"containing real, finite numbers for 'x' and 'y'." %
item)
self._set('clearing_polygon', clearing_polygon)
else:
raise ValidationError(
"Clearing polygon must be a list, tuple, or None, not a %s." %
type(clearing_polygon).__name__)
def travel_distance(self, value):
if not Number.is_real_number(value):
raise ValidationError("Travel distance must be a number (value is %s)" % value)
elif not Number.is_finite(value):
raise ValidationError("Travel distance must be a finite number (value is %s)" % value)
else:
self.set_input("travel_distance", value)
def _validate_point(self, point):
"""Validate a point entry.
:returns: True if the point is a dictionary with exact keys 'x' and 'y' that are each real, finite numbers.
"""
return isinstance(point, dict) and {'x', 'y'} == set(
point.keys()) and all(
Number.is_finite(num) and Number.is_real_number(num)
for num in point.values())
def theta(self, theta):
"""Set the angle of the survey node (in radians) within the associated map.
:param float theta: The survey node angle.
:raise fetchcore.exceptions.ValidationError: Thrown if theta is not a finite number in between 0 and pi.
"""
if not Number.is_finite(theta):
raise ValidationError("Theta must be a finite number (theta is %s)" % theta)
else:
self._set("theta", Number.bind_radians_to_pi(theta))
def goal_yaw_tolerance(self, value):
if not Number.is_real_number(value):
raise ValidationError(
"Goal yaw tolerance must be a number (value is %s)" % value)
elif not Number.is_finite(value):
raise ValidationError(
"Goal yaw tolerance must be a finite number (value is %s)" %
value)
else:
self.set_input("goal_yaw_tolerance", value)
def theta(self, theta):
"""Set the angle of the lower-left corner of the map (in radians).
:param float theta: The map angle.
:raise fetchcore.exceptions.ValidationError: Thrown if theta is not a finite number in between 0 and pi.
"""
if not Number.is_finite(theta):
raise exceptions.ValidationError(
"Theta must be a finite number (theta is %s)" % theta)
else:
self._set("theta", Number.bind_radians_to_pi(theta))
def hint_position_tolerance(self, value):
if not Number.is_real_number(value):
raise ValidationError(
"Hint position tolerance must be a number (value is %s)" %
value)
elif not Number.is_finite(value):
raise ValidationError(
"Hint position tolerance must be a finite number (value is %s)"
% value)
else:
self.set_input("hint_position_tolerance", value)
def is_pose(value):
"""
Check if a given list represents a pose [x, y, theta]
:param value: A list of numbers
:return: True if the list has 3 finite numbers, False otherwise.
"""
try:
return len(value) == 3 and all(
[Number.is_finite(p) for p in value])
except TypeError:
return False
def y(self, value):
"""Sets the Y position of the survey node within the associated map.
:param value: A float.
:raises ValidationError if value is not a number.
:raises ValidationError if value is not a finite number.
"""
if Number.is_real_number(value):
if not Number.is_finite(value):
raise ValidationError("Y must be a finite number (value is %s)" % value)
self._set("y", value)
else:
raise ValidationError("Y must be a number (value is %s)" % value)
def x(self, value):
"""Sets the X position of the point within the associated map
:param value: A float
:raises ValidationError if value is not a number
:raises ValidationError if value is not a finite number
"""
if Number.is_real_number(value):
if not Number.is_finite(value):
raise ValidationError("X position must be a finite number (value is %s)" % value)
self._set("x", value)
else:
raise ValidationError("X position must be a number (value is %s)" % value)
def dock_pose_x(self, x):
"""Sets the x-coordinate of dock position
:param x: (float) X value
:raises ValidationError if x is not a number
:raises ValidationError if x is not a finite number
"""
if not Number.is_real_number(x):
raise ValidationError(
"X coordinate must be a number (value is %s)" % x)
elif not Number.is_finite(x):
raise ValidationError("X coordinate must be a finite number "
"(value is %s)" % x)
else:
self.set_input("dock_pose_x", x)
def dock_pose_y(self, y):
"""Sets the y-coordinate of dock position
:param y: (float) Y value
:raises ValidationError if y is not a number
:raises ValidationError if y is not a finite number
"""
if not Number.is_real_number(y):
raise ValidationError(
"Y coordinate must be a number (value is %s)" % y)
elif not Number.is_finite(y):
raise ValidationError("Y coordinate must be a finite number "
"(value is %s)" % y)
else:
self.set_input("dock_pose_y", y)
def x(self, x):
"""Sets the X position of the lower-left corner of the map (in meters).
:param float x: The x position.
:raise fetchcore.exceptions.ValidationError: Thrown if x is not a finite number.
"""
if Number.is_real_number(x):
if not Number.is_finite(x):
raise exceptions.ValidationError(
"X position must be a finite non-negative number (x is %s)"
% x)
self._set("x", x)
else:
raise exceptions.ValidationError(
"X position must be a number (x is %s)" % x)
def y(self, y):
"""Sets the Y position of the lower-left corner of the map (in meters).
:param float y: The y position.
:raise fetchcore.exceptions.ValidationError: Thrown if y is not a finite number.
"""
if Number.is_real_number(y):
if not Number.is_finite(y):
raise exceptions.ValidationError(
"Y position must be a finite non-negative number (y is %s)"
% y)
self._set("y", y)
else:
raise exceptions.ValidationError(
"Y position must be a number (y is %s)" % y)
def dock_pose_qy(self, qy):
"""Sets the y component of the dock quaternion
:param qy: (float) Y component
:raises ValidationError if qy is not a number
:raises ValidationError if qy is not a finite number
"""
if not Number.is_real_number(qy):
raise ValidationError(
"Quarternion y component must be a number (value is %s)" % qy)
elif not Number.is_finite(qy):
raise ValidationError(
"Quaternion y component must be a finite number "
"(value is %s)" % qy)
else:
self.set_input("dock_pose_qy", qy)
def dock_pose_qw(self, qw):
"""Sets the w component of the dock quaternion
:param qw: (float) W component
:raises ValidationError if qw is not a number
:raises ValidationError if qw is not a finite number
"""
if not Number.is_real_number(qw):
raise ValidationError(
"Quarternion w component must be a number (value is %s)" % qw)
elif not Number.is_finite(qw):
raise ValidationError(
"Quaternion w component must be a finite number "
"(value is %s)" % qw)
else:
self.set_input("dock_pose_qw", qw)
def dock_pose_qz(self, qz):
"""Sets the z component of the dock quaternion
:param qz: (float) Z component
:raises ValidationError if qz is not a number
:raises ValidationError if qz is not a finite number
"""
if not Number.is_real_number(qz):
raise ValidationError(
"Quarternion z component must be a number (value is %s)" % qz)
elif not Number.is_finite(qz):
raise ValidationError(
"Quaternion z component must be a finite number "
"(value is %s)" % qz)
else:
self.set_input("dock_pose_qz", qz)
def dock_pose_qx(self, qx):
"""Sets the x component of the dock quaternion
:param qx: (float) X component
:raises ValidationError if qx is not a number
:raises ValidationError if qx is not a finite number
"""
if not Number.is_real_number(qx):
raise ValidationError(
"Quarternion x component must be a number (value is %s)" % qx)
elif not Number.is_finite(qx):
raise ValidationError(
"Quaternion x component must be a finite number "
"(value is %s)" % qx)
else:
self.set_input("dock_pose_qx", qx)
