def move_to(self, location, instrument, strategy='arc', **kwargs):
"""
Move an instrument to a coordinate, container or a coordinate within
a container.
Parameters
----------
location : one of the following:
1. :class:`Placeable` (i.e. Container, Deck, Slot, Well) — will
move to the origin of a container.
2. :class:`Vector` move to the given coordinate in Deck coordinate
system.
3. (:class:`Placeable`, :class:`Vector`) move to a given coordinate
within object's coordinate system.
instrument :
Instrument to move relative to. If ``None``, move relative to the
center of a gantry.
strategy : {'arc', 'direct'}
``arc`` : move to the point using arc trajectory
avoiding obstacles.
``direct`` : move to the point in a straight line.
"""
placeable, coordinates = containers.unpack_location(location)
# because the top position is what is tracked,
# this checks if coordinates doesn't equal top
offset = subtract(coordinates, placeable.top()[1])
if isinstance(placeable, containers.WellSeries):
placeable = placeable[0]
target = add(pose_tracker.absolute(self.poses, placeable),
offset.coordinates)
if self._previous_instrument:
if self._previous_instrument != instrument:
self._previous_instrument.retract()
# because we're switching pipettes, this ensures a large (safe)
# Z arc height will be used for the new pipette
self._prev_container = None
self._previous_instrument = instrument
if strategy == 'arc':
arc_coords = self._create_arc(instrument, target, placeable)
for coord in arc_coords:
self.poses = instrument._move(self.poses, **coord)
elif strategy == 'direct':
position = {'x': target[0], 'y': target[1], 'z': target[2]}
self.poses = instrument._move(self.poses, **position)
else:
raise RuntimeError('Unknown move strategy: {}'.format(strategy))
def well_vector(location):
return unpack_location(location)
