from mbodied.types.motion import AbsoluteMotionField, Motion, MotionField, RelativeMotionField
[docs]
class Pose3D(Motion):
"""Action for a 2D+1 space representing x, y, and theta."""
x: float = MotionField(
0.0,
description="X position in 2D space. +x is forward; -x is backward.",
)
y: float = MotionField(
0.0,
description="Y position in 2D space. +y is left; -y is right.",
)
theta: float = MotionField(
default_factory=lambda: 0.0,
description="Rotation (radians) about the z axis. Positive is counter-clockwise.",
)
[docs]
class LocationAngle(Pose3D):
"""Alias for Pose3D. A 2D+1 space representing x, y, and theta."""
pass
[docs]
class Pose6D(Motion):
"""Movement for a 6D space representing x, y, z, roll, pitch, and yaw."""
x: float = MotionField(
default=0,
description="X position in 3D space. +x is forward; -x is backward.",
)
y: float = MotionField(
0,
description="Y position in 3D space. +y is left; -y is right.",
)
z: float = MotionField(
0,
description="Z position in 3D space. +z is up; -z is down.",
)
roll: float = MotionField(
0,
description="Roll about the X-axis in radians. Positive roll is clockwise.",
)
pitch: float = MotionField(
0,
description="Pitch about the Y-axis in radians. Positive pitch is down.",
)
yaw: float = MotionField(
0,
description="Yaw about the Z-axis in radians. Positive yaw is left.",
)
[docs]
class Pose(Pose6D):
"""Alias for Pose6D. A movement for a 6D space representing x, y, z, roll, pitch, and yaw."""
pass
[docs]
class AbsolutePose(Pose):
"""Absolute pose of the robot in 3D space."""
x: float = AbsoluteMotionField(
0,
description="Absolute X position in 3D space. +x is forward; -x is backward.",
)
y: float = AbsoluteMotionField(
0,
description="Absolute Y position in 3D space. +y is left; -y is right.",
)
z: float = AbsoluteMotionField(
0,
description="Absolute Z position in 3D space. +z is up; -z is down.",
)
roll: float = AbsoluteMotionField(
0,
description="Absolute roll about the X-axis in radians. Positive roll is clockwise.",
)
pitch: float = AbsoluteMotionField(
0,
description="Absolute pitch about the Y-axis in radians. Positive pitch is down.",
)
yaw: float = AbsoluteMotionField(
0,
description="Absolute yaw about the Z-axis in radians. Positive yaw is left.",
)
[docs]
class RelativePose(Pose):
"""Relative pose of the robot in 3D space."""
x: float = RelativeMotionField(
0,
description="Relative X position in 3D space. +x is forward; -x is backward.",
)
y: float = RelativeMotionField(
0,
description="Relative Y position in 3D space. +y is left; -y is right.",
)
z: float = RelativeMotionField(
0,
description="Relative Z position in 3D space. +z is up; -z is down.",
)
roll: float = RelativeMotionField(
0,
description="Relative roll about the X-axis in radians. Positive roll is clockwise.",
)
pitch: float = RelativeMotionField(
0,
description="Relative pitch about the Y-axis in radians. Positive pitch is down.",
)
yaw: float = RelativeMotionField(
0,
description="Relative yaw about the Z-axis in radians. Positive yaw is left.",
)
