posetracker

Documentation

Overview

Package posetracker contains the interface and gRPC infrastructure for a pose tracker component

Index

• Constants
• Variables
• func GetReadings(ctx context.Context, poseTracker PoseTracker) (map[string]interface{}, error)
• func Named(name string) resource.Name
• func NewResourceIsNotPoseTracker(resourceName string) error
• func NewServer(service subtype.Service) pb.PoseTrackerServiceServer
• func WrapWithReconfigurable(r interface{}) (resource.Reconfigurable, error)
• type BodyToPoseInFrame
• type PoseTracker
  • func FromRobot(r robot.Robot, name string) (PoseTracker, error)
  • func NewClientFromConn(ctx context.Context, conn rpc.ClientConn, name string, logger golog.Logger) PoseTracker

Constants

const SubtypeName = resource.SubtypeName("pose_tracker")

SubtypeName is a constant that identifies the component resource subtype string "posetracker".

Variables

var Subtype = resource.NewSubtype(
	resource.ResourceNamespaceRDK,
	resource.ResourceTypeComponent,
	SubtypeName,
)

Subtype is a constant that identifies the component resource subtype.

Functions

func GetReadings

func GetReadings(ctx context.Context, poseTracker PoseTracker) (map[string]interface{}, error)

GetReadings is a helper for getting all readings from a PoseTracker.

func Named

func Named(name string) resource.Name

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

func NewResourceIsNotPoseTracker

func NewResourceIsNotPoseTracker(resourceName string) error

NewResourceIsNotPoseTracker returns an error for when a resource does not properly implement the PoseTracker interface.

func NewServer

func NewServer(service subtype.Service) pb.PoseTrackerServiceServer

NewServer constructs a pose tracker gRPC service server.

func WrapWithReconfigurable

func WrapWithReconfigurable(r interface{}) (resource.Reconfigurable, error)

WrapWithReconfigurable converts a regular PoseTracker implementation to a reconfigurablePoseTracker. If pose tracker is already a reconfigurablePoseTracker, then nothing is done.

Types

type BodyToPoseInFrame

type BodyToPoseInFrame map[string]*referenceframe.PoseInFrame

BodyToPoseInFrame represents a map of body names to PoseInFrames.

type PoseTracker

type PoseTracker interface {
	GetPoses(ctx context.Context, bodyNames []string) (BodyToPoseInFrame, error)

	sensor.Sensor
	generic.Generic
}

A PoseTracker represents a robot component that can observe bodies in an environment and provide their respective poses in space. These poses are given in the context of the PoseTracker's frame of reference.

func FromRobot

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

FromRobot is a helper for getting the named force matrix sensor from the given Robot.

func NewClientFromConn

func NewClientFromConn(ctx context.Context, conn rpc.ClientConn, name string, logger golog.Logger) PoseTracker

NewClientFromConn constructs a new Client from connection passed in.