navigate_close_to_position()
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navigate_close_to_position()
- 1 Minute to read
Article summary
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This function allows you to navigate to close to a desired goal destination based off a min and max radius.
Reference
Arguments
| Arguments | Type | Default value | |
|---|---|---|---|
| x | float | X-coordinate of the target position | |
| y | float | Y-coordinate of the target position | |
| min_radius | float | 0.0 | minimum radius from the target position |
| max_radius | float | 0.8 | maximum radius from the target position |
| pos_unit | POSITION_UNIT | POSITION_UNIT.PIXELS | Unit of measurement for the points (PIXELs or METERS). |
| callback_feedback | Callable | None | Callable function for feedback (optional). |
| callback_finish | Callable | None | Callable function for finish (optional). |
| wait | bool | False | Coolean indicating whether to wait for user response (optional). |
Callback Arguments
callback_feedback
| Argument | Type | |
|---|---|---|
| feedback_code | int | Code for the type of feedback. |
| feedback_msg | str | Details regarding the feedback code (empty if no error). |
| distance_to_goal | float | Distance to goal in meters. |
| speed | float | Robot current speed. |
For a complete list of feedbacks see the complete list of navigation feedbacks.
callback_finish
| Argument | Type | |
|---|---|---|
| error_code | int | |
| error_msg | str |
Return
None, unless there is callback.
Exceptions
RayaNavNotLocatedRayaNavAlreadyNavigatingRayaUnableToFollowPathRayaUnableToComputePathRayaNavUnkownError
See the complete list of navigation exceptions.
Usage Example
Code:
...
class RayaApplication(RayaApplicationBase):
async def setup(self):
self.navigation = await self.enable_controller('navigation')
...
async def loop(self):
...
await self.navigation.navigate_close_to_position(
x=1.42,
y=-2.96,
min_radius=0.4,
max_radius=0.8,
pos_unit=POSITION_UNIT.METERS,
callback_feedback=self.cb_nav_feedback,
callback_finish=self.cb_nav_finish,
wait=True,
)
...
async def finish(self):
...
See the nav_all_unity_apartment example to check some valid uses.
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