Change switch_map interface & add sample

yukiendo-pfr commented 3 months ago

初期姿勢なしのSwitchMapをサポートするためのインターフェースの変更と、SwitchMapのサンプルコードの追加をしました。

coderabbitai[bot] commented 3 months ago

Walkthrough

全体的な変更は、kachaka_apiライブラリを使用してマップを切り替える機能をPythonでデモするノートブックと、switch_mapメソッドのパラメータを変更して初期ポーズを指定する機能を追加することに焦点を当てています。これにより、マップの管理や切り替えがより柔軟に行えるようになります。

Changes

ファイルパス	変更内容の概要
python/demos/switch_map.ipynb	`kachaka_api`ライブラリを使用したマップ切り替えのデモを追加。初期ポーズの指定方法やマップIDの取得方法も含む。
python/kachaka_api/aio/base.py	`switch_map`メソッドが`Optional[Pose2d]`型の`pose`パラメータを受け取るように変更。リクエストオブジェクトの構築方法が変更された。
python/kachaka_api/base.py	`KachakaClient`クラスの`switch_map`メソッドが`pose`パラメータを受け取るように変更。リクエストオブジェクトの構築ロジックが更新された。

Sequence Diagram(s) (Beta)

sequenceDiagram
    participant User
    participant Notebook
    participant KachakaClient
    participant MapService

    User->>Notebook: ノートブックを実行
    Notebook->>KachakaClient: switch_map(target_map_id, pose)
    KachakaClient->>MapService: SwitchMapRequest(target_map_id, pose)
    MapService-->>KachakaClient: SwitchMapResponse
    KachakaClient-->>Notebook: マップ切り替え結果
    Notebook-->>User: 結果を表示

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yukiendo-pfr commented 3 months ago

少々説明が長くなってしまいましたが、現在の初期位置決定における仕様をコメントしました。

pf-robotics / kachaka-api