def __init__(self, id, initialPosition, timeHelper):
self.id = id
self.initialPosition = np.array(initialPosition)
self.time = lambda: timeHelper.time()
self.planner = firm.planner()
firm.plan_init(self.planner)
self.planner.lastKnownPosition = arr2vec(initialPosition)
self.groupMask = 0
self.trajectories = dict()
def __init__(self, id, initialPosition, timeHelper):
self.id = id
self.initialPosition = np.array(initialPosition)
self.time = lambda: timeHelper.time()
MASS = 0.032
self.planner = firm.planner()
firm.plan_init(self.planner, MASS)
self.planner.home = arr2vec(initialPosition)
self.planner.lastKnownPosition = arr2vec(initialPosition)
self.group = 0
def __init__(self, id, initialPosition, timeHelper):
self.id = id
self.initialPosition = np.array(initialPosition)
self.time = lambda: timeHelper.time()
self.planner = firm.planner()
self.cmdHighLevel = True
firm.plan_init(self.planner)
self.planner.lastKnownPosition = arr2vec(initialPosition)
self.groupMask = 0
self.trajectories = dict()
# for visualization - default to blueish-grey
self.ledRGB = (0.5, 0.5, 1)
def __init__(self, id, initialPosition, timeHelper):
# Core.
self.id = id
self.groupMask = 0
self.initialPosition = np.array(initialPosition)
self.time = lambda: timeHelper.time()
# Commander.
self.mode = Crazyflie.MODE_IDLE
self.planner = firm.planner()
firm.plan_init(self.planner)
self.trajectories = dict()
self.setState = firm.traj_eval()
# State. Public np.array-returning getters below for physics state.
self.state = firm.traj_eval()
self.state.pos = firm.mkvec(*initialPosition)
self.state.vel = firm.vzero()
self.state.acc = firm.vzero()
self.state.yaw = 0.0
self.state.omega = firm.vzero()
self.ledRGB = (0.5, 0.5, 1)