def get_pos(self):
"""
Reads the current position from the MRDS and returns it as a Vector instance.
"""
self.__mrds.request('GET', '/lokarria/localization')
response = self.__mrds.getresponse()
if response.status == 200:
pos_data = json.loads(response.read())
response.close()
return Vector.from_dict(pos_data['Pose']['Position'])
else:
raise self.UnexpectedResponse(response)
def positionPath(self, dict=False):
"""
Parses the positions in the loaded file into a list of either Vector instances or dictionaries depending on the
value of the dict parameter.
:param dict: if set to True, will parse into dictionaries instead of into Vector instances
:type dict: bool
"""
if dict:
return [{
'X': p['Pose']['Position']['X'],
'Y': p['Pose']['Position']['Y'],
'Z': p['Pose']['Position']['Z']
} for p in self.path]
else:
return [Vector.from_dict(p['Pose']['Position']) for p in self.path]
def get_pos_and_orientation(self):
"""
Reads the current position and orientation from the MRDS server and returns it as a tuple (Vector, Quaternion).
"""
self.__mrds.request('GET', '/lokarria/localization')
response = self.__mrds.getresponse()
if response.status == 200:
pos_data = json.loads(response.read())
response.close()
return Vector.from_dict(
pos_data['Pose']['Position']), Quaternion.from_dict(
pos_data['Pose']['Orientation'])
else:
raise self.UnexpectedResponse(response)