movementsensor

Documentation

Overview

Package movementsensor defines the interfaces of a MovementSensor

Index

• Constants
• Variables
• func GetHeading(gps1, gps2 *geo.Point, yawOffset float64) (float64, float64, float64)
• func Named(name string) resource.Name
• func NamesFromRobot(r robot.Robot) []string
• func NewRPCServiceServer(coll resource.APIResourceCollection[MovementSensor]) interface{}
• func Readings(ctx context.Context, g MovementSensor, extra map[string]interface{}) (map[string]interface{}, error)
• type LastError
  • func NewLastError(size, threshold int) LastError
  • func (le *LastError) Get() error
  • func (le *LastError) Set(err error)
• type MovementSensor
  • func FromDependencies(deps resource.Dependencies, name string) (MovementSensor, error)
  • func FromRobot(r robot.Robot, name string) (MovementSensor, error)
  • func NewClientFromConn(ctx context.Context, conn rpc.ClientConn, remoteName string, ...) (MovementSensor, error)
• type Properties

Constants

const SubtypeName = "movement_sensor"

SubtypeName is a constant that identifies the component resource API 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")
	// ErrMethodUnimplementedLinearAcceleration returns error if Linear Acceleration is unimplemented.
	ErrMethodUnimplementedLinearAcceleration = errors.New("linear acceleration unimplemented")
)

var API = resource.APINamespaceRDK.WithComponentType(SubtypeName)

API is a variable that identifies the component resource API.

Functions

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 NewRPCServiceServer

func NewRPCServiceServer(coll resource.APIResourceCollection[MovementSensor]) interface{}

NewRPCServiceServer constructs an MovementSensor gRPC service serviceServer.

func Readings

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

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

Types

type LastError

type LastError struct {
	// contains filtered or unexported fields
}

LastError is an object that stores recent errors. If there have been sufficiently many recent errors, you can retrieve the most recent one.

func NewLastError

func NewLastError(size, threshold int) LastError

NewLastError creates a LastError object which will let you retrieve the most recent error if at least `threshold` of the most recent `size` items put into it are non-nil.

func (*LastError) Get

func (le *LastError) Get() error

Get returns the most-recently-stored non-nil error if we've had enough recent errors. If we're going to return a non-nil error, we also wipe out all other data so we don't return the same error again next time.

func (*LastError) Set

func (le *LastError) Set(err error)

Set stores an error to be retrieved later.

type MovementSensor

type MovementSensor interface {
	sensor.Sensor
	Position(ctx context.Context, extra map[string]interface{}) (*geo.Point, float64, error)                // (lat, long), altitude (m)
	LinearVelocity(ctx context.Context, extra map[string]interface{}) (r3.Vector, error)                    // m / sec
	AngularVelocity(ctx context.Context, extra map[string]interface{}) (spatialmath.AngularVelocity, error) // deg / sec
	LinearAcceleration(ctx context.Context, extra map[string]interface{}) (r3.Vector, error)
	CompassHeading(ctx context.Context, extra map[string]interface{}) (float64, error) // [0->360)
	Orientation(ctx context.Context, extra map[string]interface{}) (spatialmath.Orientation, error)
	Properties(ctx context.Context, extra map[string]interface{}) (*Properties, error)
	Accuracy(ctx context.Context, extra map[string]interface{}) (map[string]float32, error)
}

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

func FromDependencies

func FromDependencies(deps resource.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,
	remoteName string,
	name resource.Name,
	logger golog.Logger,
) (MovementSensor, error)

NewClientFromConn constructs a new Client from connection passed in.

type Properties

type Properties pb.GetPropertiesResponse

Properties tells you what a MovementSensor supports.