Source code for olo.locomotion.types

"""Value types for finite local mobile-locomotion."""

from dataclasses import dataclass
from enum import Enum




class LocomotionOutcome(Enum):
    """Terminal outcome for a local locomotion-motion command."""

    UNSPECIFIED = "unspecified"
    SUCCEEDED = "succeeded"
    STALLED = "stalled"
    TIMED_OUT = "timed_out"
    ODOM_STALE = "odom_stale"
    CANCELLED = "cancelled"
    ABORTED = "aborted"





@dataclass(frozen=True, slots=True, repr=False)
class PlanarMotion:
    """Planar x/y/yaw values for displacement or velocity."""

    x: float = 0.0
    y: float = 0.0
    yaw: float = 0.0

    def __repr__(self) -> str:
        return (
            f"PlanarMotion(x={self.x:.3f}, y={self.y:.3f}, "
            f"yaw={self.yaw:.3f})"
        )





@dataclass(frozen=True, slots=True)
class AppliedVelocity:
    """Velocity accepted by the appliance and its resolved command topic."""

    applied: PlanarMotion
    cmd_vel_topic: str





@dataclass(frozen=True, slots=True, repr=False)
class LocomotionFeedback:
    """Progress for an active local locomotion-motion command."""

    measured: PlanarMotion
    remaining: PlanarMotion
    elapsed: float

    def __repr__(self) -> str:
        return (
            f"LocomotionFeedback(measured={self.measured!r}, "
            f"remaining={self.remaining!r}, elapsed={self.elapsed:.3f})"
        )





@dataclass(frozen=True, slots=True)
class LocomotionResult:
    """Terminal result for a local locomotion-motion command."""

    outcome: LocomotionOutcome
    reason: str
    requested: PlanarMotion
    measured: PlanarMotion
    residual: PlanarMotion
    elapsed: float



__all__ = [
    "AppliedVelocity",
    "LocomotionFeedback",
    "LocomotionOutcome",
    "LocomotionResult",
    "PlanarMotion",
]