46 lines
1.0 KiB
Python
46 lines
1.0 KiB
Python
from typing import Any
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from Base.Metadata import export
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from Base.Persistence import Persistence
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@export(
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Father="PersistencePy",
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Name="WaypointPy",
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Twin="Waypoint",
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TwinPointer="Waypoint",
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Include="Mod/Robot/App/Waypoint.h",
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Namespace="Robot",
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FatherInclude="Base/PersistencePy.h",
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FatherNamespace="Base",
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Constructor=True,
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Delete=True,
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)
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class WaypointPy(Persistence):
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"""
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Waypoint class
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"""
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Name: str
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"""Name of the waypoint"""
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Type: str
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"""Type of the waypoint[PTP|LIN|CIRC|WAIT]"""
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Pos: Any
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"""End position (destination) of the waypoint"""
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Cont: bool
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"""Control the continuity to the next waypoint in the trajectory"""
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Velocity: float
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"""Control the velocity to the next waypoint in the trajectory
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In Case of PTP 0-100% Axis speed
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In Case of LIN m/s
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In Case of WAIT s wait time"""
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Tool: int
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"""Describe which tool frame to use for that point"""
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Base: int
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"""Describe which Base frame to use for that point"""
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