framesystem

Documentation

Overview

Package framesystem defines and implements the concept of a frame system.

Index

• Constants
• func NewFrameSystemFromParts(name, prefix string, parts framesystemparts.Parts, logger golog.Logger) (referenceframe.FrameSystem, error)
• func RobotFrameSystem(ctx context.Context, r robot.Robot, additionalTransforms []*commonpb.Transform) (referenceframe.FrameSystem, error)
• func RobotFsCurrentInputs(ctx context.Context, r robot.Robot, fs referenceframe.FrameSystem) (map[string][]referenceframe.Input, map[string]referenceframe.InputEnabled, ...)
• type Service
  • func New(ctx context.Context, r robot.Robot, logger golog.Logger) Service

Constants

const LocalFrameSystemName = "robot"

LocalFrameSystemName is the default name of the frame system created by the service.

const SubtypeName = resource.SubtypeName("frame_system")

SubtypeName is the name of the type of service.

Functions

func NewFrameSystemFromParts

func NewFrameSystemFromParts(
	name, prefix string, parts framesystemparts.Parts,
	logger golog.Logger,
) (referenceframe.FrameSystem, error)

NewFrameSystemFromParts assembles a frame system from a collection of parts, usually acquired by calling Config on a frame system service.

func RobotFrameSystem

func RobotFrameSystem(
	ctx context.Context,
	r robot.Robot,
	additionalTransforms []*commonpb.Transform,
) (referenceframe.FrameSystem, error)

RobotFrameSystem returns the frame system of the robot.

func RobotFsCurrentInputs

func RobotFsCurrentInputs(
	ctx context.Context,
	r robot.Robot,
	fs referenceframe.FrameSystem,
) (map[string][]referenceframe.Input, map[string]referenceframe.InputEnabled, error)

RobotFsCurrentInputs will get present inputs for a framesystem from a robot and return a map of those inputs, as well as a map of the InputEnabled resources that those inputs came from.

Types

type Service

type Service interface {
	Config(ctx context.Context, additionalTransforms []*commonpb.Transform) (framesystemparts.Parts, error)
	TransformPose(
		ctx context.Context, pose *referenceframe.PoseInFrame, dst string,
		additionalTransforms []*commonpb.Transform,
	) (*referenceframe.PoseInFrame, error)
}

A Service that returns the frame system for a robot.

func New

func New(ctx context.Context, r robot.Robot, logger golog.Logger) Service

New returns a new frame system service for the given robot.