motion

Documentation

Overview

Package motion contains a gRPC based motion client

Package motion implements an motion service.

Package motion contains a gRPC based motion service server

Index

• Constants
• Variables
• func Named(name string) resource.Name
• func NewServer(s subtype.Service) pb.MotionServiceServer
• func WrapWithReconfigurable(s interface{}) (resource.Reconfigurable, error)
• type Service
  • func FromRobot(r robot.Robot, name string) (Service, error)
  • func New(ctx context.Context, r robot.Robot, config config.Service, logger golog.Logger) (Service, error)
  • func NewClientFromConn(ctx context.Context, conn rpc.ClientConn, name string, logger golog.Logger) Service

Constants

const SubtypeName = resource.SubtypeName("motion")

SubtypeName is the name of the type of service.

Variables

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

Subtype is a constant that identifies the motion service resource subtype.

Functions

func Named

func Named(name string) resource.Name

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

func NewServer

func NewServer(s subtype.Service) pb.MotionServiceServer

NewServer constructs a motion gRPC service server.

func WrapWithReconfigurable

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

WrapWithReconfigurable wraps a Motion Service as a Reconfigurable.

Types

type Service

type Service interface {
	Move(
		ctx context.Context,
		componentName resource.Name,
		destination *referenceframe.PoseInFrame,
		worldState *commonpb.WorldState,
	) (bool, error)
	MoveSingleComponent(
		ctx context.Context,
		componentName resource.Name,
		destination *referenceframe.PoseInFrame,
		worldState *commonpb.WorldState,
	) (bool, error)
	GetPose(
		ctx context.Context,
		componentName resource.Name,
		destinationFrame string,
		supplementalTransforms []*commonpb.Transform,
	) (*referenceframe.PoseInFrame, error)
}

A Service controls the flow of moving components.

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 New

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

New returns a new move and grab service for the given robot.

func NewClientFromConn

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

NewClientFromConn constructs a new Client from connection passed in.