self.trajectory_node.send_permission(False)
rate.sleep()
time += 1/r
self.__set_done(True)
def is_done(self):
return self.done
def __set_done(self,boolean):
self.done = boolean
if __name__ == '__main__':
try:
rospy.sleep(4.)
tn = TrajectoryNode()
sl_gen_1 = StraightLineGen(tn,[0.,0.,0.2],[0.,0.,0.6])
sl_gen_1.loop(0.)
rospy.sleep(2.)
sl_gen_2 = StraightLineGen(tn,[0.,0.,0.6],[0.8,0.,0.6])
sl_gen_2.loop(0.)
rospy.sleep(10.)
acc_gen = AccGen(tn,[0.,0.,0.6],[0.8,0.,0.6],[0.,0.4,0.],14*math.pi)
t = acc_gen.get_t_f()
a_gen = ArcGen(tn,[0.,0.,0.6],[0.8,0.,0.6],[0.,0.4,0.],14*math.pi)
a_gen.loop(t/2.0)
except rospy.ROSInterruptException:
pass
