config

Documentation

Overview

Package config implements functions to assist with attribute evaluation in the SLAM service.

Index

• type Config
  • func (config *Config) Validate(path string) ([]string, error)
• type OptionalConfigParams
  • func GetOptionalParameters(config *Config, ...) (OptionalConfigParams, error)

Types

type Config

type Config struct {
	Camera         map[string]string `json:"camera"`
	MovementSensor map[string]string `json:"movement_sensor"`
	ConfigParams   map[string]string `json:"config_params"`

	ExistingMap   string `json:"existing_map"`
	EnableMapping *bool  `json:"enable_mapping"`
	UseCloudSlam  *bool  `json:"use_cloud_slam"`
}

Config describes how to configure the SLAM service.

func (*Config) Validate

func (config *Config) Validate(path string) ([]string, error)

Validate creates the list of implicit dependencies.

type OptionalConfigParams

type OptionalConfigParams struct {
	LidarDataFrequencyHz          int
	MovementSensorName            string
	MovementSensorDataFrequencyHz int
	EnableMapping                 bool
	ExistingMap                   string
}

OptionalConfigParams holds the optional config parameters of SLAM.

func GetOptionalParameters

func GetOptionalParameters(config *Config, defaultLidarDataFrequencyHz, defaultMovementSensorDataFrequencyHz int, logger logging.Logger,
) (OptionalConfigParams, error)

GetOptionalParameters sets any unset optional config parameters to the values passed to this function, and returns them.