Module qfly.traqr
Expand source code
from threading import Thread
import traceback
import qfly
class QualisysTraqr(Thread):
"""
Wrapper for convenient operation of the Qualisys Traqr
Attributes
----------
trqr_body_name : str
Name of Crazyflie's rigid body in QTM
pose : Pose
Pose object keeping track of whereabouts
"""
def __init__(self,
traqr_body_name,
qtm_ip="127.0.0.1"):
"""
Construct QualisysTraqr object
Parameters
----------
traqr_body_name : str
Name of Traqr's rigid body in QTM
qtm_ip : str
IP address of QTM host.
"""
print(f'[TRAQR {traqr_body_name}] Initializing...')
self.traqr_body_name = traqr_body_name
self.pose = None
self.qtm = None
self.qtm_ip = qtm_ip
print(f'[TRAQR {self.traqr_body_name}] Connecting...')
def __enter__(self):
"""
Enter QualisysTraqr context
"""
print(f'[TRAQR {self.traqr_body_name}] Setting up...')
self.qtm = qfly.QtmWrapper(
self.traqr_body_name,
lambda pose: self._set_pose(pose),
qtm_ip=self.qtm_ip)
print(
f'[TRAQR {self.traqr_body_name}] Connecting to QTM at {self.qtm.qtm_ip}...')
return self
def __exit__(self, exc_type=None, exc_value=None, tb=None):
"""
Exit QualisysTraqr context
"""
print(
f'[TRAQR {self.traqr_body_name}] Exiting...')
if exc_type is not None:
print(
f'[TRAQR {self.traqr_body_name}] Encountered exception on exit...')
traceback.print_exception(exc_type, exc_value, tb)
self.qtm.close()
def _set_pose(self, pose):
"""
Set internal Pose object
Parameters
----------
pose : Pose
Pose object containing coordinates
"""
self.pose = poseClasses
class QualisysTraqr (traqr_body_name, qtm_ip='127.0.0.1')-
Wrapper for convenient operation of the Qualisys Traqr
Attributes
trqr_body_name:str- Name of Crazyflie's rigid body in QTM
pose:Pose- Pose object keeping track of whereabouts
Construct QualisysTraqr object
Parameters
traqr_body_name:str- Name of Traqr's rigid body in QTM
qtm_ip:str- IP address of QTM host.
Expand source code
class QualisysTraqr(Thread): """ Wrapper for convenient operation of the Qualisys Traqr Attributes ---------- trqr_body_name : str Name of Crazyflie's rigid body in QTM pose : Pose Pose object keeping track of whereabouts """ def __init__(self, traqr_body_name, qtm_ip="127.0.0.1"): """ Construct QualisysTraqr object Parameters ---------- traqr_body_name : str Name of Traqr's rigid body in QTM qtm_ip : str IP address of QTM host. """ print(f'[TRAQR {traqr_body_name}] Initializing...') self.traqr_body_name = traqr_body_name self.pose = None self.qtm = None self.qtm_ip = qtm_ip print(f'[TRAQR {self.traqr_body_name}] Connecting...') def __enter__(self): """ Enter QualisysTraqr context """ print(f'[TRAQR {self.traqr_body_name}] Setting up...') self.qtm = qfly.QtmWrapper( self.traqr_body_name, lambda pose: self._set_pose(pose), qtm_ip=self.qtm_ip) print( f'[TRAQR {self.traqr_body_name}] Connecting to QTM at {self.qtm.qtm_ip}...') return self def __exit__(self, exc_type=None, exc_value=None, tb=None): """ Exit QualisysTraqr context """ print( f'[TRAQR {self.traqr_body_name}] Exiting...') if exc_type is not None: print( f'[TRAQR {self.traqr_body_name}] Encountered exception on exit...') traceback.print_exception(exc_type, exc_value, tb) self.qtm.close() def _set_pose(self, pose): """ Set internal Pose object Parameters ---------- pose : Pose Pose object containing coordinates """ self.pose = poseAncestors
- threading.Thread