v0.1.3

robogauge/tasks/gauge/goal_data.py

@@ -0,0 +1,22 @@
+from enum import Enum
+from dataclasses import dataclass
+from typing import List, Optional, Literal
+
+@dataclass
+class VelocityGoal:
+    lin_vel: List[float]  # x, y, z [m/s], z is ignored for ground robots
+    ang_vel: List[float]  # roll, pitch, yaw [rad/s], roll and pitch are ignored for ground robots
+
+@dataclass
+class PositionGoal:
+    # relative to robot's current position
+    target_pos: List[float]  # x, y, z [m], z is ignored for ground robots
+    # reach target orientation
+    target_quat: List[float]  # x, y, z, w quaternion
+    tolerance: float  # [m] position tolerance to consider goal reached
+
+@dataclass
+class GoalData:
+    goal_type: Literal['velocity', 'position']
+    velocity_goal: Optional[VelocityGoal] = None
+    position_goal: Optional[PositionGoal] = None