Work on documentation.

src/delcommand.py

@@ -42,6 +42,7 @@ parser.add_option ("", "--flyback", action="store_true", dest="flyback", help="F
 parser.add_option ("", "--yaw", action="store_true", dest="yaw", help="Yaw")
 parser.add_option ("", "--climb", action="store_true", dest="climb", help="Climb")
 parser.add_option ("", "--takeoff", action="store_true", dest="takeoff", help="Take off")
+parser.add_option ("", "--throwtakeoff", action="store_true", dest="throwtakeoff", help="Throw Take off")
 parser.add_option ("", "--land", action="store_true", dest="land", help="Land")
 parser.add_option ("", "--lookat", action="store_true", dest="lookat", help="LookAt")
 parser.add_option ("", "--stop-lookat", action="store_true", dest="stop_lookat", help="Stop LookAt")
@@ -86,6 +87,16 @@ def takeoff(ns, unit):
     (res, reason, timing) = mo.delegation_process(tree, options.exectree)
     return (res, reason, timing)
 
+def throw_takeoff(ns, unit):
+    takeoff = Node("throw-take-off", {"execunit": unit})    
+#    inair = Node("in-air-goal", {"execunit": unit})    
+#    inair = Node("in-air-goal", {"execunit": unit, "height-above-takeoff": 30.0})
+#    tree = Node("seq", {"execunit": unit}, [inair])
+    tree = Node("seq", {"execunit": ns}, [takeoff])
+    mo = MissionObject("takeoff", ns, options.display, options.verbose)
+    (res, reason, timing) = mo.delegation_process(tree, options.exectree)
+    return (res, reason, timing)
+
 def land(ns, unit):
     land = Node("land", {"execunit": unit})
     tree = Node("seq", {"execunit": unit}, [land])
@@ -313,6 +324,9 @@ if __name__ == "__main__":
     if options.takeoff:
         res = takeoff(ns, unit)
 
+    if options.throwtakeoff:
+        res = throw_takeoff(ns, unit)
+
     if options.land:
         res = land(ns, unit)