kinematics

package
v0.0.0-...-e6cdf45 Latest Latest
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 Go to latest Published: Jan 22, 2022 License: MIT Imports: 7 Imported by: 0

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Index

Constants

This section is empty.

Variables

View Source 
var (
	ErrInvalidLengthTypes        = fmt.Errorf("proto: negative length found during unmarshaling")
	ErrIntOverflowTypes          = fmt.Errorf("proto: integer overflow")
	ErrUnexpectedEndOfGroupTypes = fmt.Errorf("proto: unexpected end of group")
)

Functions

This section is empty.

Types

type Config 

type Config struct {
	DH     []*DenavitHartenberg `protobuf:"bytes,1,rep,name=DH,proto3" json:"DH,omitempty"`
	Planar []*PlanarJoint       `protobuf:"bytes,2,rep,name=Planar,proto3" json:"Planar,omitempty"`
	Wheels []*Wheel             `protobuf:"bytes,3,rep,name=Wheels,proto3" json:"Wheels,omitempty"`
	PID    []*PID               `protobuf:"bytes,4,rep,name=PID,proto3" json:"PID,omitempty"`
	Motion []*Motion            `protobuf:"bytes,5,rep,name=Motion,proto3" json:"Motion,omitempty"`
}

func (*Config) Descriptor 

func (*Config) Descriptor() ([]byte, []int)

func (*Config) GetDH 

func (m *Config) GetDH() []*DenavitHartenberg

func (*Config) GetMotion 

func (m *Config) GetMotion() []*Motion

func (*Config) GetPID 

func (m *Config) GetPID() []*PID

func (*Config) GetPlanar 

func (m *Config) GetPlanar() []*PlanarJoint

func (*Config) GetWheels 

func (m *Config) GetWheels() []*Wheel

func (*Config) Marshal 

func (m *Config) Marshal() (dAtA []byte, err error)

func (*Config) MarshalTo 

func (m *Config) MarshalTo(dAtA []byte) (int, error)

func (*Config) MarshalToSizedBuffer 

func (m *Config) MarshalToSizedBuffer(dAtA []byte) (int, error)

func (*Config) ProtoMessage 

func (*Config) ProtoMessage()

func (*Config) Reset 

func (m *Config) Reset()

func (*Config) Size 

func (m *Config) Size() (n int)

func (*Config) String 

func (m *Config) String() string

func (*Config) Unmarshal 

func (m *Config) Unmarshal(dAtA []byte) error

func (*Config) XXX_DiscardUnknown 

func (m *Config) XXX_DiscardUnknown()

func (*Config) XXX_Marshal 

func (m *Config) XXX_Marshal(b []byte, deterministic bool) ([]byte, error)

func (*Config) XXX_Merge 

func (m *Config) XXX_Merge(src proto.Message)

func (*Config) XXX_Size 

func (m *Config) XXX_Size() int

func (*Config) XXX_Unmarshal 

func (m *Config) XXX_Unmarshal(b []byte) error

type DenavitHartenberg 

type DenavitHartenberg struct {
	Index uint32  `protobuf:"varint,1,opt,name=Index,proto3" json:"Index,omitempty"`
	Theta float32 `protobuf:"fixed32,2,opt,name=Theta,proto3" json:"Theta,omitempty"`
	Alpha float32 `protobuf:"fixed32,3,opt,name=Alpha,proto3" json:"Alpha,omitempty"`
	R     float32 `protobuf:"fixed32,4,opt,name=R,proto3" json:"R,omitempty"`
	D     float32 `protobuf:"fixed32,5,opt,name=D,proto3" json:"D,omitempty"`
}

func (*DenavitHartenberg) Descriptor 

func (*DenavitHartenberg) Descriptor() ([]byte, []int)

func (*DenavitHartenberg) GetAlpha 

func (m *DenavitHartenberg) GetAlpha() float32

func (*DenavitHartenberg) GetD 

func (m *DenavitHartenberg) GetD() float32

func (*DenavitHartenberg) GetIndex 

func (m *DenavitHartenberg) GetIndex() uint32

func (*DenavitHartenberg) GetR 

func (m *DenavitHartenberg) GetR() float32

func (*DenavitHartenberg) GetTheta 

func (m *DenavitHartenberg) GetTheta() float32

func (*DenavitHartenberg) Marshal 

func (m *DenavitHartenberg) Marshal() (dAtA []byte, err error)

func (*DenavitHartenberg) MarshalTo 

func (m *DenavitHartenberg) MarshalTo(dAtA []byte) (int, error)

func (*DenavitHartenberg) MarshalToSizedBuffer 

func (m *DenavitHartenberg) MarshalToSizedBuffer(dAtA []byte) (int, error)

func (*DenavitHartenberg) ProtoMessage 

func (*DenavitHartenberg) ProtoMessage()

func (*DenavitHartenberg) Reset 

func (m *DenavitHartenberg) Reset()

func (*DenavitHartenberg) Size 

func (m *DenavitHartenberg) Size() (n int)

func (*DenavitHartenberg) String 

func (m *DenavitHartenberg) String() string

func (*DenavitHartenberg) Unmarshal 

func (m *DenavitHartenberg) Unmarshal(dAtA []byte) error

func (*DenavitHartenberg) XXX_DiscardUnknown 

func (m *DenavitHartenberg) XXX_DiscardUnknown()

func (*DenavitHartenberg) XXX_Marshal 

func (m *DenavitHartenberg) XXX_Marshal(b []byte, deterministic bool) ([]byte, error)

func (*DenavitHartenberg) XXX_Merge 

func (m *DenavitHartenberg) XXX_Merge(src proto.Message)

func (*DenavitHartenberg) XXX_Size 

func (m *DenavitHartenberg) XXX_Size() int

func (*DenavitHartenberg) XXX_Unmarshal 

func (m *DenavitHartenberg) XXX_Unmarshal(b []byte) error

type Kinematics 

type Kinematics interface {
	DOF() int
	Params() vec.Vector
	Effector() vec.Vector

	Forward() bool
	Inverse() bool
}

type Motion 

type Motion struct {
	Velocity     float32 `protobuf:"fixed32,1,opt,name=Velocity,proto3" json:"Velocity,omitempty"`
	Acceleration float32 `protobuf:"fixed32,2,opt,name=Acceleration,proto3" json:"Acceleration,omitempty"`
	Jerk         float32 `protobuf:"fixed32,3,opt,name=Jerk,proto3" json:"Jerk,omitempty"`
}

func (*Motion) Descriptor 

func (*Motion) Descriptor() ([]byte, []int)

func (*Motion) GetAcceleration 

func (m *Motion) GetAcceleration() float32

func (*Motion) GetJerk 

func (m *Motion) GetJerk() float32

func (*Motion) GetVelocity 

func (m *Motion) GetVelocity() float32

func (*Motion) Marshal 

func (m *Motion) Marshal() (dAtA []byte, err error)

func (*Motion) MarshalTo 

func (m *Motion) MarshalTo(dAtA []byte) (int, error)

func (*Motion) MarshalToSizedBuffer 

func (m *Motion) MarshalToSizedBuffer(dAtA []byte) (int, error)

func (*Motion) ProtoMessage 

func (*Motion) ProtoMessage()

func (*Motion) Reset 

func (m *Motion) Reset()

func (*Motion) Size 

func (m *Motion) Size() (n int)

func (*Motion) String 

func (m *Motion) String() string

func (*Motion) Unmarshal 

func (m *Motion) Unmarshal(dAtA []byte) error

func (*Motion) XXX_DiscardUnknown 

func (m *Motion) XXX_DiscardUnknown()

func (*Motion) XXX_Marshal 

func (m *Motion) XXX_Marshal(b []byte, deterministic bool) ([]byte, error)

func (*Motion) XXX_Merge 

func (m *Motion) XXX_Merge(src proto.Message)

func (*Motion) XXX_Size 

func (m *Motion) XXX_Size() int

func (*Motion) XXX_Unmarshal 

func (m *Motion) XXX_Unmarshal(b []byte) error

type PID 

type PID struct {
	P float32 `protobuf:"fixed32,1,opt,name=P,proto3" json:"P,omitempty"`
	I float32 `protobuf:"fixed32,2,opt,name=I,proto3" json:"I,omitempty"`
	D float32 `protobuf:"fixed32,3,opt,name=D,proto3" json:"D,omitempty"`
}

func (*PID) Descriptor 

func (*PID) Descriptor() ([]byte, []int)

func (*PID) GetD 

func (m *PID) GetD() float32

func (*PID) GetI 

func (m *PID) GetI() float32

func (*PID) GetP 

func (m *PID) GetP() float32

func (*PID) Marshal 

func (m *PID) Marshal() (dAtA []byte, err error)

func (*PID) MarshalTo 

func (m *PID) MarshalTo(dAtA []byte) (int, error)

func (*PID) MarshalToSizedBuffer 

func (m *PID) MarshalToSizedBuffer(dAtA []byte) (int, error)

func (*PID) ProtoMessage 

func (*PID) ProtoMessage()

func (*PID) Reset 

func (m *PID) Reset()

func (*PID) Size 

func (m *PID) Size() (n int)

func (*PID) String 

func (m *PID) String() string

func (*PID) Unmarshal 

func (m *PID) Unmarshal(dAtA []byte) error

func (*PID) XXX_DiscardUnknown 

func (m *PID) XXX_DiscardUnknown()

func (*PID) XXX_Marshal 

func (m *PID) XXX_Marshal(b []byte, deterministic bool) ([]byte, error)

func (*PID) XXX_Merge 

func (m *PID) XXX_Merge(src proto.Message)

func (*PID) XXX_Size 

func (m *PID) XXX_Size() int

func (*PID) XXX_Unmarshal 

func (m *PID) XXX_Unmarshal(b []byte) error

type PlanarJoint 

type PlanarJoint struct {
	MinAngle float32 `protobuf:"fixed32,1,opt,name=MinAngle,proto3" json:"MinAngle,omitempty"`
	MaxAngle float32 `protobuf:"fixed32,2,opt,name=MaxAngle,proto3" json:"MaxAngle,omitempty"`
	Length   float32 `protobuf:"fixed32,3,opt,name=Length,proto3" json:"Length,omitempty"`
}

func (*PlanarJoint) Descriptor 

func (*PlanarJoint) Descriptor() ([]byte, []int)

func (*PlanarJoint) GetLength 

func (m *PlanarJoint) GetLength() float32

func (*PlanarJoint) GetMaxAngle 

func (m *PlanarJoint) GetMaxAngle() float32

func (*PlanarJoint) GetMinAngle 

func (m *PlanarJoint) GetMinAngle() float32

func (*PlanarJoint) Marshal 

func (m *PlanarJoint) Marshal() (dAtA []byte, err error)

func (*PlanarJoint) MarshalTo 

func (m *PlanarJoint) MarshalTo(dAtA []byte) (int, error)

func (*PlanarJoint) MarshalToSizedBuffer 

func (m *PlanarJoint) MarshalToSizedBuffer(dAtA []byte) (int, error)

func (*PlanarJoint) ProtoMessage 

func (*PlanarJoint) ProtoMessage()

func (*PlanarJoint) Reset 

func (m *PlanarJoint) Reset()

func (*PlanarJoint) Size 

func (m *PlanarJoint) Size() (n int)

func (*PlanarJoint) String 

func (m *PlanarJoint) String() string

func (*PlanarJoint) Unmarshal 

func (m *PlanarJoint) Unmarshal(dAtA []byte) error

func (*PlanarJoint) XXX_DiscardUnknown 

func (m *PlanarJoint) XXX_DiscardUnknown()

func (*PlanarJoint) XXX_Marshal 

func (m *PlanarJoint) XXX_Marshal(b []byte, deterministic bool) ([]byte, error)

func (*PlanarJoint) XXX_Merge 

func (m *PlanarJoint) XXX_Merge(src proto.Message)

func (*PlanarJoint) XXX_Size 

func (m *PlanarJoint) XXX_Size() int

func (*PlanarJoint) XXX_Unmarshal 

func (m *PlanarJoint) XXX_Unmarshal(b []byte) error

type State 

type State struct {
	Params []float32 `protobuf:"fixed32,1,rep,packed,name=Params,proto3" json:"Params,omitempty"`
}

func (*State) Descriptor 

func (*State) Descriptor() ([]byte, []int)

func (*State) GetParams 

func (m *State) GetParams() []float32

func (*State) Marshal 

func (m *State) Marshal() (dAtA []byte, err error)

func (*State) MarshalTo 

func (m *State) MarshalTo(dAtA []byte) (int, error)

func (*State) MarshalToSizedBuffer 

func (m *State) MarshalToSizedBuffer(dAtA []byte) (int, error)

func (*State) ProtoMessage 

func (*State) ProtoMessage()

func (*State) Reset 

func (m *State) Reset()

func (*State) Size 

func (m *State) Size() (n int)

func (*State) String 

func (m *State) String() string

func (*State) Unmarshal 

func (m *State) Unmarshal(dAtA []byte) error

func (*State) XXX_DiscardUnknown 

func (m *State) XXX_DiscardUnknown()

func (*State) XXX_Marshal 

func (m *State) XXX_Marshal(b []byte, deterministic bool) ([]byte, error)

func (*State) XXX_Merge 

func (m *State) XXX_Merge(src proto.Message)

func (*State) XXX_Size 

func (m *State) XXX_Size() int

func (*State) XXX_Unmarshal 

func (m *State) XXX_Unmarshal(b []byte) error

type Wheel 

type Wheel struct {
	Radius float32 `protobuf:"fixed32,1,opt,name=Radius,proto3" json:"Radius,omitempty"`
	BaseX  float32 `protobuf:"fixed32,2,opt,name=BaseX,proto3" json:"BaseX,omitempty"`
	BaseY  float32 `protobuf:"fixed32,3,opt,name=BaseY,proto3" json:"BaseY,omitempty"`
}

func (*Wheel) Descriptor 

func (*Wheel) Descriptor() ([]byte, []int)

func (*Wheel) GetBaseX 

func (m *Wheel) GetBaseX() float32

func (*Wheel) GetBaseY 

func (m *Wheel) GetBaseY() float32

func (*Wheel) GetRadius 

func (m *Wheel) GetRadius() float32

func (*Wheel) Marshal 

func (m *Wheel) Marshal() (dAtA []byte, err error)

func (*Wheel) MarshalTo 

func (m *Wheel) MarshalTo(dAtA []byte) (int, error)

func (*Wheel) MarshalToSizedBuffer 

func (m *Wheel) MarshalToSizedBuffer(dAtA []byte) (int, error)

func (*Wheel) ProtoMessage 

func (*Wheel) ProtoMessage()

func (*Wheel) Reset 

func (m *Wheel) Reset()

func (*Wheel) Size 

func (m *Wheel) Size() (n int)

func (*Wheel) String 

func (m *Wheel) String() string

func (*Wheel) Unmarshal 

func (m *Wheel) Unmarshal(dAtA []byte) error

func (*Wheel) XXX_DiscardUnknown 

func (m *Wheel) XXX_DiscardUnknown()

func (*Wheel) XXX_Marshal 

func (m *Wheel) XXX_Marshal(b []byte, deterministic bool) ([]byte, error)

func (*Wheel) XXX_Merge 

func (m *Wheel) XXX_Merge(src proto.Message)

func (*Wheel) XXX_Size 

func (m *Wheel) XXX_Size() int

func (*Wheel) XXX_Unmarshal 

func (m *Wheel) XXX_Unmarshal(b []byte) error

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