Documentation
¶
Overview ¶
Package fake implements a fake arm.
Index ¶
- func NewArm(cfg config.Component) (arm.LocalArm, error)
- func NewArmIK(ctx context.Context, cfg config.Component, logger golog.Logger) (arm.LocalArm, error)
- type Arm
- func (a *Arm) Close()
- func (a *Arm) CurrentInputs(ctx context.Context) ([]referenceframe.Input, error)
- func (a *Arm) EndPosition(ctx context.Context, extra map[string]interface{}) (*commonpb.Pose, error)
- func (a *Arm) GoToInputs(ctx context.Context, goal []referenceframe.Input) error
- func (a *Arm) IsMoving(ctx context.Context) (bool, error)
- func (a *Arm) JointPositions(ctx context.Context, extra map[string]interface{}) (*pb.JointPositions, error)
- func (a *Arm) ModelFrame() referenceframe.Model
- func (a *Arm) MoveToJointPositions(ctx context.Context, joints *pb.JointPositions, extra map[string]interface{}) error
- func (a *Arm) MoveToPosition(ctx context.Context, c *commonpb.Pose, worldState *commonpb.WorldState, ...) error
- func (a *Arm) Stop(ctx context.Context, extra map[string]interface{}) error
- func (a *Arm) UpdateAction(cfg *config.Component) config.UpdateActionType
- type ArmIK
- func (a *ArmIK) Close()
- func (a *ArmIK) CurrentInputs(ctx context.Context) ([]referenceframe.Input, error)
- func (a *ArmIK) EndPosition(ctx context.Context, extra map[string]interface{}) (*commonpb.Pose, error)
- func (a *ArmIK) GoToInputs(ctx context.Context, goal []referenceframe.Input) error
- func (a *ArmIK) IsMoving(ctx context.Context) (bool, error)
- func (a *ArmIK) JointPositions(ctx context.Context, extra map[string]interface{}) (*pb.JointPositions, error)
- func (a *ArmIK) ModelFrame() referenceframe.Model
- func (a *ArmIK) MoveToJointPositions(ctx context.Context, joints *pb.JointPositions, extra map[string]interface{}) error
- func (a *ArmIK) MoveToPosition(ctx context.Context, pos *commonpb.Pose, worldState *commonpb.WorldState, ...) error
- func (a *ArmIK) Stop(ctx context.Context, extra map[string]interface{}) error
Constants ¶
This section is empty.
Variables ¶
This section is empty.
Functions ¶
Types ¶
type Arm ¶
type Arm struct { generic.Echo Name string CloseCount int // contains filtered or unexported fields }
Arm is a fake arm that can simply read and set properties.
func (*Arm) CurrentInputs ¶
CurrentInputs TODO.
func (*Arm) EndPosition ¶
func (a *Arm) EndPosition(ctx context.Context, extra map[string]interface{}) (*commonpb.Pose, error)
EndPosition returns the set position.
func (*Arm) GoToInputs ¶
GoToInputs TODO.
func (*Arm) JointPositions ¶
func (a *Arm) JointPositions(ctx context.Context, extra map[string]interface{}) (*pb.JointPositions, error)
JointPositions returns the set joints.
func (*Arm) ModelFrame ¶
func (a *Arm) ModelFrame() referenceframe.Model
ModelFrame returns the dynamic frame of the model.
func (*Arm) MoveToJointPositions ¶
func (a *Arm) MoveToJointPositions(ctx context.Context, joints *pb.JointPositions, extra map[string]interface{}) error
MoveToJointPositions sets the joints.
func (*Arm) MoveToPosition ¶
func (a *Arm) MoveToPosition(ctx context.Context, c *commonpb.Pose, worldState *commonpb.WorldState, extra map[string]interface{}) error
MoveToPosition sets the position.
func (*Arm) UpdateAction ¶
func (a *Arm) UpdateAction(cfg *config.Component) config.UpdateActionType
UpdateAction helps hinting the reconfiguration process on what strategy to use given a modified config. See config.UpdateActionType for more information.
type ArmIK ¶
type ArmIK struct { generic.Echo Name string CloseCount int // contains filtered or unexported fields }
ArmIK is a fake arm that can simply read and set properties.
func (*ArmIK) CurrentInputs ¶
CurrentInputs TODO.
func (*ArmIK) EndPosition ¶
func (a *ArmIK) EndPosition(ctx context.Context, extra map[string]interface{}) (*commonpb.Pose, error)
EndPosition returns the set position.
func (*ArmIK) GoToInputs ¶
GoToInputs TODO.
func (*ArmIK) JointPositions ¶
func (a *ArmIK) JointPositions(ctx context.Context, extra map[string]interface{}) (*pb.JointPositions, error)
JointPositions returns joints.
func (*ArmIK) ModelFrame ¶
func (a *ArmIK) ModelFrame() referenceframe.Model
ModelFrame returns the dynamic frame of the model.
func (*ArmIK) MoveToJointPositions ¶
func (a *ArmIK) MoveToJointPositions(ctx context.Context, joints *pb.JointPositions, extra map[string]interface{}) error
MoveToJointPositions sets the joints.