motion

Documentation

Overview

Package motion is the service that allows you to plan and execute movements.

Index

• Constants
• Variables
• func Named(name string) resource.Name
• func NewRPCServiceServer(coll resource.APIResourceCollection[Service]) interface{}
• type Localizer
  • func NewMovementSensorLocalizer(ms movementsensor.MovementSensor, origin *geo.Point, ...) Localizer
  • func NewSLAMLocalizer(slam slam.Service) Localizer
• type MotionConfiguration
• type Service
  • func FromDependencies(deps resource.Dependencies, name string) (Service, error)
  • func FromRobot(r robot.Robot, name string) (Service, error)
  • func NewClientFromConn(ctx context.Context, conn rpc.ClientConn, remoteName string, ...) (Service, error)

Constants

const SubtypeName = "motion"

SubtypeName is the name of the type of service.

Variables

var API = resource.APINamespaceRDK.WithServiceType(SubtypeName)

API is a variable that identifies the motion service resource API.

Functions

func Named

func Named(name string) resource.Name

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

func NewRPCServiceServer

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

NewRPCServiceServer constructs a motion gRPC service server. It is intentionally untyped to prevent use outside of tests.

Types

type Localizer

type Localizer interface {
	CurrentPosition(context.Context) (*referenceframe.PoseInFrame, error)
}

Localizer is an interface which both slam and movementsensor can satisfy when wrapped respectively.

func NewMovementSensorLocalizer

func NewMovementSensorLocalizer(ms movementsensor.MovementSensor, origin *geo.Point, calibration spatialmath.Pose) Localizer

NewMovementSensorLocalizer creates a Localizer from a MovementSensor. An origin point must be specified and the localizer will return Poses relative to this point. A calibration pose can also be specified, which will adjust the location after it is calculated relative to the origin.

func NewSLAMLocalizer

func NewSLAMLocalizer(slam slam.Service) Localizer

NewSLAMLocalizer creates a new Localizer that relies on a slam service to report Pose.

type MotionConfiguration

type MotionConfiguration struct {
	VisionServices        []resource.Name
	PositionPollingFreqHz float64
	ObstaclePollingFreqHz float64
	PlanDeviationMM       float64
	LinearMPerSec         float64
	AngularDegsPerSec     float64
}

MotionConfiguration specifies how to configure a call

type Service

type Service interface {
	resource.Resource
	Move(
		ctx context.Context,
		componentName resource.Name,
		destination *referenceframe.PoseInFrame,
		worldState *referenceframe.WorldState,
		constraints *servicepb.Constraints,
		extra map[string]interface{},
	) (bool, error)
	MoveOnMap(
		ctx context.Context,
		componentName resource.Name,
		destination spatialmath.Pose,
		slamName resource.Name,
		extra map[string]interface{},
	) (bool, error)
	MoveOnGlobe(
		ctx context.Context,
		componentName resource.Name,
		destination *geo.Point,
		heading float64,
		movementSensorName resource.Name,
		obstacles []*spatialmath.GeoObstacle,
		motionConfig *MotionConfiguration,
		extra map[string]interface{},
	) (bool, error)
	GetPose(
		ctx context.Context,
		componentName resource.Name,
		destinationFrame string,
		supplementalTransforms []*referenceframe.LinkInFrame,
		extra map[string]interface{},
	) (*referenceframe.PoseInFrame, error)
}

A Service controls the flow of moving components.

func FromDependencies

func FromDependencies(deps resource.Dependencies, name string) (Service, error)

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

func FromRobot

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

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

func NewClientFromConn

func NewClientFromConn(
	ctx context.Context,
	conn rpc.ClientConn,
	remoteName string,
	name resource.Name,
	logger golog.Logger,
) (Service, error)

NewClientFromConn constructs a new Client from connection passed in.