movementsensor

Documentation

Overview

Package movementsensor defines the interfaces of a MovementSensor

Index

• Constants
• Variables
• func DependencyTypeError(name, actual interface{}) error
• func GetHeading(gps1, gps2 *geo.Point, yawOffset float64) (float64, float64, float64)
• func Named(name string) resource.Name
• func NamesFromRobot(r robot.Robot) []string
• func NewServer(s subtype.Service) pb.MovementSensorServiceServer
• func NewUnimplementedInterfaceError(actual interface{}) error
• func Readings(ctx context.Context, g MovementSensor) (map[string]interface{}, error)
• func WrapWithReconfigurable(r interface{}) (resource.Reconfigurable, error)
• type MovementSensor
  • func FromDependencies(deps registry.Dependencies, name string) (MovementSensor, error)
  • func FromRobot(r robot.Robot, name string) (MovementSensor, error)
  • func NewClientFromConn(ctx context.Context, conn rpc.ClientConn, name string, logger golog.Logger) MovementSensor
• type Properties

Constants

const SubtypeName = resource.SubtypeName("movement_sensor")

SubtypeName is a constant that identifies the component resource subtype string "movement_sensor".

Variables

var (
	// ErrMethodUnimplementedAccuracy returns error if the Accuracy method is unimplemented.
	ErrMethodUnimplementedAccuracy = errors.New("Accuracy Unimplemented")
	// ErrMethodUnimplementedPosition returns error if the Position method is unimplemented.
	ErrMethodUnimplementedPosition = errors.New("Position Unimplemented")
	// ErrMethodUnimplementedOrientation returns error if the Orientation method is unimplemented.
	ErrMethodUnimplementedOrientation = errors.New("Orientation Unimplemented")
	// ErrMethodUnimplementedLinearVelocity returns error if the LinearVelocity method is unimplemented.
	ErrMethodUnimplementedLinearVelocity = errors.New("LinearVelocity Unimplemented")
	// ErrMethodUnimplementedAngularVelocity returns error if the AngularVelocity method is unimplemented.
	ErrMethodUnimplementedAngularVelocity = errors.New("AngularVelocity Unimplemented")
	// ErrMethodUnimplementedCompassHeading returns error if the CompassHeading method is unimplemented.
	ErrMethodUnimplementedCompassHeading = errors.New("CompassHeading Unimplemented")
	// ErrMethodUnimplementedReadings returns error if the Readings method is unimplemented.
	ErrMethodUnimplementedReadings = errors.New("Readings Unimplemented")
	// ErrMethodUnimplementedProperties returns error if the Properties method is unimplemented.
	ErrMethodUnimplementedProperties = errors.New("Properties Unimplemented")
)

var Subtype = resource.NewSubtype(
	resource.ResourceNamespaceRDK,
	resource.ResourceTypeComponent,
	SubtypeName,
)

Subtype is a constant that identifies the component resource subtype.

Functions

func DependencyTypeError

func DependencyTypeError(name, actual interface{}) error

DependencyTypeError is used when a resource doesn't implement the expected interface.

func GetHeading

func GetHeading(gps1, gps2 *geo.Point, yawOffset float64) (float64, float64, float64)

GetHeading calculates bearing and absolute heading angles given 2 MovementSensor coordinates 0 degrees indicate North, 90 degrees indicate East and so on.

func Named

func Named(name string) resource.Name

Named is a helper for getting the named MovementSensor's typed resource name.

func NamesFromRobot

func NamesFromRobot(r robot.Robot) []string

NamesFromRobot is a helper for getting all MovementSensor names from the given Robot.

func NewServer

func NewServer(s subtype.Service) pb.MovementSensorServiceServer

NewServer constructs an MovementSensor gRPC service subtypeServer.

func NewUnimplementedInterfaceError

func NewUnimplementedInterfaceError(actual interface{}) error

NewUnimplementedInterfaceError is used when there is a failed interface check.

func Readings

func Readings(ctx context.Context, g MovementSensor) (map[string]interface{}, error)

Readings is a helper for getting all readings from a MovementSensor.

func WrapWithReconfigurable

func WrapWithReconfigurable(r interface{}) (resource.Reconfigurable, error)

WrapWithReconfigurable - if MovementSensor is already a reconfigurableMovementSensor, then nothing is done. Otherwise wraps in a Reconfigurable.

Types

type MovementSensor

type MovementSensor interface {
	Position(ctx context.Context) (*geo.Point, float64, error)                // (lat, long), altitide (mm)
	LinearVelocity(ctx context.Context) (r3.Vector, error)                    // mm / sec
	AngularVelocity(ctx context.Context) (spatialmath.AngularVelocity, error) // radians / sec
	CompassHeading(ctx context.Context) (float64, error)                      // [0->360)
	Orientation(ctx context.Context) (spatialmath.Orientation, error)
	Properties(ctx context.Context) (*Properties, error)
	Accuracy(ctx context.Context) (map[string]float32, error) // in mm
	generic.Generic
	sensor.Sensor
}

A MovementSensor reports information about the robot's direction, position and speed.

func FromDependencies

func FromDependencies(deps registry.Dependencies, name string) (MovementSensor, error)

FromDependencies is a helper for getting the named movementsensor from a collection of dependencies.

func FromRobot

func FromRobot(r robot.Robot, name string) (MovementSensor, error)

FromRobot is a helper for getting the named MovementSensor from the given Robot.

func NewClientFromConn

func NewClientFromConn(ctx context.Context, conn rpc.ClientConn, name string, logger golog.Logger) MovementSensor

NewClientFromConn constructs a new Client from connection passed in.

type Properties

type Properties pb.GetPropertiesResponse

Properties tells you what a MovementSensor supports.