slam

Documentation

Overview

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

Index

• Constants
• Variables
• func GetInternalStateFull(ctx context.Context, slamSvc Service) ([]byte, error)
• func GetLimits(ctx context.Context, svc Service) ([]referenceframe.Limit, error)
• func GetPointCloudMapFull(ctx context.Context, slamSvc Service) ([]byte, error)
• func HelperConcatenateChunksToFull(f func() ([]byte, error)) ([]byte, error)
• func Named(name string) resource.Name
• func NewRPCServiceServer(coll resource.APIResourceCollection[Service]) interface{}
• type Service
  • 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"

SubtypeName is the name of the type of service.

Variables

var API = resource.APINamespaceRDK.WithServiceType(SubtypeName)

API is a variable that identifies the slam resource API.

Functions

func GetInternalStateFull

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

GetInternalStateFull concatenates the streaming responses from GetInternalState into the internal serialized state of the slam algorithm.

func GetLimits

func GetLimits(ctx context.Context, svc Service) ([]referenceframe.Limit, error)

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

func GetPointCloudMapFull

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

GetPointCloudMapFull concatenates the streaming responses from GetPointCloudMap into a full point cloud.

func HelperConcatenateChunksToFull

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

HelperConcatenateChunksToFull concatenates the chunks from a streamed grpc endpoint.

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.

Types

type Service

type Service interface {
	resource.Resource
	GetPosition(ctx context.Context) (spatialmath.Pose, string, error)
	GetPointCloudMap(ctx context.Context) (func() ([]byte, error), error)
	GetInternalState(ctx context.Context) (func() ([]byte, error), error)
	GetLatestMapInfo(ctx context.Context) (time.Time, error)
}

Service describes the functions that are available to the service.

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 golog.Logger,
) (Service, error)

NewClientFromConn constructs a new Client from the connection passed in.