slam

Documentation

Overview

Package slam implements simultaneous localization and mapping. This is an Experimental package.

Index

• Constants
• Variables
• func HelperConcatenateChunksToFull(f func() ([]byte, error)) ([]byte, error)
• func InternalStateCallback(ctx context.Context, name string, slamClient pb.SLAMServiceClient) (func() ([]byte, error), error)
• func InternalStateFull(ctx context.Context, slamSvc Service) ([]byte, error)
• func Limits(ctx context.Context, svc Service, useEditedMap bool) ([]referenceframe.Limit, error)
• func Named(name string) resource.Name
• func NewRPCServiceServer(coll resource.APIResourceCollection[Service]) interface{}
• func PointCloudMapCallback(ctx context.Context, name string, slamClient pb.SLAMServiceClient, ...) (func() ([]byte, error), error)
• func PointCloudMapFull(ctx context.Context, slamSvc Service, returnEditedMap bool) ([]byte, error)
• type MappingMode
  • func (t MappingMode) String() string
• type Properties
• type SensorInfo
• type SensorType
  • func (t SensorType) String() string
• 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       = "slam"
	MappingModeNewMap = MappingMode(iota)
	MappingModeLocalizationOnly
	MappingModeUpdateExistingMap
)

SubtypeName is the name of the type of service.

const (
	SensorTypeCamera = SensorType(iota)
	SensorTypeMovementSensor
)

SensorTypeCamera is a camera sensor.

Variables

var API = resource.APINamespaceRDK.WithServiceType(SubtypeName)

API is a variable that identifies the slam resource API.

Functions

func HelperConcatenateChunksToFull

func HelperConcatenateChunksToFull(f func() ([]byte, error)) ([]byte, error)

HelperConcatenateChunksToFull concatenates the chunks from a streamed grpc endpoint.

func InternalStateCallback

func InternalStateCallback(ctx context.Context, name string, slamClient pb.SLAMServiceClient) (func() ([]byte, error), error)

InternalStateCallback helps a client request the internal state stream from a SLAM server, returning a callback function for accessing the stream data.

func InternalStateFull

func InternalStateFull(ctx context.Context, slamSvc Service) ([]byte, error)

InternalStateFull concatenates the streaming responses from InternalState into the internal serialized state of the slam algorithm.

func Limits

func Limits(ctx context.Context, svc Service, useEditedMap bool) ([]referenceframe.Limit, error)

Limits returns the bounds of the slam map as a list of referenceframe.Limits.

func Named

func Named(name string) resource.Name

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

func NewRPCServiceServer

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

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

func PointCloudMapCallback

func PointCloudMapCallback(ctx context.Context, name string, slamClient pb.SLAMServiceClient, returnEditedMap bool) (
	func() ([]byte, error), error,
)

PointCloudMapCallback helps a client request the point cloud stream from a SLAM server, returning a callback function for accessing the stream data.

func PointCloudMapFull

func PointCloudMapFull(ctx context.Context, slamSvc Service, returnEditedMap bool) ([]byte, error)

PointCloudMapFull concatenates the streaming responses from PointCloudMap into a full point cloud.

Types

type MappingMode

type MappingMode uint8

MappingMode describes what mapping mode the slam service is in, including creating a new map, localizing on an existing map or updating an existing map.

func (MappingMode) String

func (t MappingMode) String() string

type Properties

type Properties struct {
	CloudSlam             bool
	MappingMode           MappingMode
	InternalStateFileType string
	SensorInfo            []SensorInfo
}

Properties returns various information regarding the current slam service, including whether the slam process is running in the cloud and its mapping mode.

type SensorInfo

type SensorInfo struct {
	Name string
	Type SensorType
}

SensorInfo holds information about the sensor name and sensor type.

type SensorType

type SensorType uint8

SensorType describes what sensor type the sensor is, including camera or movement sensor.

func (SensorType) String

func (t SensorType) String() string

type Service

type Service interface {
	resource.Resource
	Position(ctx context.Context) (spatialmath.Pose, error)
	PointCloudMap(ctx context.Context, returnEditedMap bool) (func() ([]byte, error), error)
	InternalState(ctx context.Context) (func() ([]byte, error), error)
	Properties(ctx context.Context) (Properties, error)
}

Service describes the functions that are available to the service.

The Go SDK implements helper functions that concatenate streaming responses. Some of the following examples use corresponding helper methods instead of interface methods.

Position example:

// Get the current position of the specified source component
// in the SLAM map as a Pose.
pos, name, err := mySLAMService.Position(context.Background())

PointCloudMap example (using PointCloudMapFull helper method):

// Get the point cloud map in standard PCD format.
pcdMapBytes, err := PointCloudMapFull(
    context.Background(), mySLAMService, true)

InternalState example (using InternalStateFull helper method):

// Get the internal state of the SLAM algorithm required
// to continue mapping/localization.
internalStateBytes, err := InternalStateFull(
    context.Background(), mySLAMService)

Properties example:

// Get the properties of your current SLAM session
properties, err := mySLAMService.Properties(context.Background())

func FromDependencies

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

FromDependencies is a helper for getting the named SLAM 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 SLAM service from the given Robot.

func NewClientFromConn

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

NewClientFromConn constructs a new Client from the connection passed in.