def _update_graph_waypoint_and_edge_ids(self, do_print=False):
# Download current graph
graph = self._graph_nav_client.download_graph()
if graph is None:
print("Empty graph.")
return
self._current_graph = graph
localization_id = self._graph_nav_client.get_localization_state(
).localization.waypoint_id
# Update and print waypoints and edges
self._current_annotation_name_to_wp_id, self._current_edges = graph_nav_util.update_waypoints_and_edges(
graph, localization_id, do_print)
def _list_graph_waypoint_and_edge_ids(self, *args):
"""List the waypoint ids and edge ids of the graph currently on the robot."""
# Download current graph
graph = self._graph_nav_client.download_graph()
if graph is None:
print("Empty graph.")
return
self._current_graph = graph
localization_id = self._graph_nav_client.get_localization_state(
).localization.waypoint_id
# Update and print waypoints and edges
self._current_annotation_name_to_wp_id, self._current_edges = graph_nav_util.update_waypoints_and_edges(
graph, localization_id)