# stepped_motion_state.py
#
# Copyright (c) 2018, Xamla and/or its affiliates. All rights reserved.
#
# This program is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
# as published by the Free Software Foundation; either version 2
# of the License, or any later version.
#
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with this program; if not, write to the Free Software
# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
#!/usr/bin/env python3
from .ik_results import ErrorCodes
[docs]class SteppedMotionState(object):
"""
Class which carries a state snapshot of a stepped motion operation
"""
def __init__(self, goal_id: str, error_message: str, error_code: int, progress: float):
"""
Initialize class SteppedMotionState
Parameters
----------
goal_id : str
Goal id of the ROS action which is used
to perform the stepped motion operation
error_message : str
String representation of the error
error_code : int
Numerical representation if the error
progress : float
Progess of the stepped motion operation
in percent range [0.0-1.0]
Returns
-------
SteppedMotionState
An instance of SteppedMotionState
"""
self.__goal_id = goal_id
self.__error_message = error_message
self.__error_code = ErrorCodes(error_code)
self.__progress = progress
@property
def goal_id(self):
"""
goal_id : str
Goal id of the ROS action which is used
to perform the stepped motion operation
"""
return self.__goal_id
@property
def error_message(self):
"""
error_message : str
String representation of the error
"""
return self.__error_message
@property
def error_code(self):
"""
error_code : xamla_motion.data_types.ErroCodes
Numerical representation if the error
"""
return self.__error_code
@property
def progress(self):
"""
progress : float
Progess of the stepped motion operation
in percent range [0.0-1.0]
"""
return self.__progress