def updateStartingSpline(self, elapsed, dt, data=None):
if (data is not None):
if (data['command'] == "flyNewSpline"):
splineFollowingUtility.newTrajectory(self, data)
self.droneState = DroneState.StartingSpline
elif (data['command'] == "modifyCurrentSpline"):
splineFollowingUtility.changeCurrentTrajectory(self, data)
else:
splineFollowingUtility.start(self)
self.droneState = DroneState.FollowingSpline
def updateStartingSpline(self, elapsed, dt, data=None):
if data is not None:
if data["command"] == "flyNewSpline":
splineFollowingUtility.newTrajectory(self, data)
self.droneState = DroneState.StartingSpline
elif data["command"] == "modifyCurrentSpline":
splineFollowingUtility.changeCurrentTrajectory(self, data)
else:
splineFollowingUtility.start(self)
self.droneState = DroneState.FollowingSpline
def updateFollowingSpline(self, elapsed, dt, data=None):
if data is not None:
if self.STATE == "flyToStart" or data["command"] == "flyNewSpline":
splineFollowingUtility.newTrajectory(self, data)
self.droneState = DroneState.StartingSpline
elif data["command"] == "modifyCurrentSpline":
splineFollowingUtility.changeCurrentTrajectory(self, data)
else:
if self.STATE != "waiting":
print 'API running. Elapsed time in state "%s": %.2fs' % (self.STATE, elapsed)
self.states[self.STATE](self, elapsed, dt)
self.vehicle.flush()
def updateFollowingSpline(self, elapsed, dt, data=None):
if (data is not None):
if (self.STATE == 'flyToStart'
or data['command'] == "flyNewSpline"):
splineFollowingUtility.newTrajectory(self, data)
self.droneState = DroneState.StartingSpline
elif (data['command'] == "modifyCurrentSpline"):
splineFollowingUtility.changeCurrentTrajectory(self, data)
else:
if self.STATE != 'waiting':
print "API running. Elapsed time in state \"%s\": %.2fs" % (
self.STATE, elapsed)
self.states[self.STATE](self, elapsed, dt)
self.vehicle.flush()
def updateWaiting(self, elapsed, dt, data=None):
if data is not None and data['command'] == "flyNewSpline":
splineFollowingUtility.newTrajectory(self, data)
self.droneState = DroneState.StartingSpline
def updateWaiting(self, elapsed, dt, data=None):
if data is not None and data["command"] == "flyNewSpline":
splineFollowingUtility.newTrajectory(self, data)
self.droneState = DroneState.StartingSpline
