imu

Documentation

Index

• Variables
• func NewRosImu(ctx context.Context, deps resource.Dependencies, conf resource.Config, ...) (movementsensor.MovementSensor, error)
• func NewRosImuDummy(_ context.Context, _ resource.Dependencies, conf resource.Config, ...) (movementsensor.MovementSensor, error)
• type RosImu
  • func (r *RosImu) Accuracy(_ context.Context, _ map[string]interface{}) (map[string]float32, error)
  • func (r *RosImu) AngularVelocity(_ context.Context, _ map[string]interface{}) (spatialmath.AngularVelocity, error)
  • func (r *RosImu) Close(_ context.Context) error
  • func (r *RosImu) CompassHeading(_ context.Context, _ map[string]interface{}) (float64, error)
  • func (r *RosImu) LinearAcceleration(_ context.Context, _ map[string]interface{}) (r3.Vector, error)
  • func (r *RosImu) LinearVelocity(_ context.Context, _ map[string]interface{}) (r3.Vector, error)
  • func (r *RosImu) Orientation(_ context.Context, _ map[string]interface{}) (spatialmath.Orientation, error)
  • func (r *RosImu) Position(_ context.Context, _ map[string]interface{}) (*geo.Point, float64, error)
  • func (r *RosImu) Properties(_ context.Context, _ map[string]interface{}) (*movementsensor.Properties, error)
  • func (r *RosImu) Readings(ctx context.Context, extra map[string]interface{}) (map[string]interface{}, error)
  • func (r *RosImu) Reconfigure(_ context.Context, _ resource.Dependencies, conf resource.Config) error
• type RosImuConfig
  • func (cfg *RosImuConfig) Validate(path string) ([]string, error)

Variables

var DummyImuModel = resource.NewModel("viamlabs", "ros", "imu-dummy")

var Model = resource.NewModel("viamlabs", "ros", "imu")

Functions

func NewRosImu

func NewRosImu(
	ctx context.Context,
	deps resource.Dependencies,
	conf resource.Config,
	logger golog.Logger,
) (movementsensor.MovementSensor, error)

func NewRosImuDummy

func NewRosImuDummy(
	_ context.Context,
	_ resource.Dependencies,
	conf resource.Config,
	logger golog.Logger,
) (movementsensor.MovementSensor, error)

Types

type RosImu

type RosImu struct {
	resource.Named
	// contains filtered or unexported fields
}

func (*RosImu) Accuracy

func (r *RosImu) Accuracy(
	_ context.Context,
	_ map[string]interface{},
) (map[string]float32, error)

func (*RosImu) AngularVelocity

func (r *RosImu) AngularVelocity(
	_ context.Context,
	_ map[string]interface{},
) (spatialmath.AngularVelocity, error)

func (*RosImu) Close

func (r *RosImu) Close(_ context.Context) error

func (*RosImu) CompassHeading

func (r *RosImu) CompassHeading(
	_ context.Context,
	_ map[string]interface{},
) (float64, error)

func (*RosImu) LinearAcceleration

func (r *RosImu) LinearAcceleration(
	_ context.Context,
	_ map[string]interface{},
) (r3.Vector, error)

func (*RosImu) LinearVelocity

func (r *RosImu) LinearVelocity(
	_ context.Context,
	_ map[string]interface{},
) (r3.Vector, error)

func (*RosImu) Orientation

func (r *RosImu) Orientation(
	_ context.Context,
	_ map[string]interface{},
) (spatialmath.Orientation, error)

func (*RosImu) Position

func (r *RosImu) Position(
	_ context.Context,
	_ map[string]interface{},
) (*geo.Point, float64, error)

func (*RosImu) Properties

func (r *RosImu) Properties(
	_ context.Context,
	_ map[string]interface{},
) (*movementsensor.Properties, error)

func (*RosImu) Readings

func (r *RosImu) Readings(
	ctx context.Context,
	extra map[string]interface{},
) (map[string]interface{}, error)

func (*RosImu) Reconfigure

func (r *RosImu) Reconfigure(
	_ context.Context,
	_ resource.Dependencies,
	conf resource.Config,
) error

type RosImuConfig

type RosImuConfig struct {
	NodeName   string `json:"node_name"`
	PrimaryUri string `json:"primary_uri"`
	Topic      string `json:"topic"`
}

func (*RosImuConfig) Validate

func (cfg *RosImuConfig) Validate(path string) ([]string, error)