fake

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

Functions

func NewArm

func NewArm(cfg config.Component) (arm.LocalArm, error)

NewArm returns a new fake arm.

func NewArmIK

func NewArmIK(ctx context.Context, cfg config.Component, logger golog.Logger) (arm.LocalArm, error)

NewArmIK returns a new fake arm.

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) Close

func (a *Arm) Close()

Close does nothing.

func (*Arm) CurrentInputs

func (a *Arm) CurrentInputs(ctx context.Context) ([]referenceframe.Input, error)

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

func (a *Arm) GoToInputs(ctx context.Context, goal []referenceframe.Input) error

GoToInputs TODO.

func (*Arm) IsMoving

func (a *Arm) IsMoving(ctx context.Context) (bool, error)

IsMoving is always false for a fake arm.

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) Stop

func (a *Arm) Stop(ctx context.Context, extra map[string]interface{}) error

Stop doesn't do anything for a fake arm.

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) Close

func (a *ArmIK) Close()

Close does nothing.

func (*ArmIK) CurrentInputs

func (a *ArmIK) CurrentInputs(ctx context.Context) ([]referenceframe.Input, error)

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

func (a *ArmIK) GoToInputs(ctx context.Context, goal []referenceframe.Input) error

GoToInputs TODO.

func (*ArmIK) IsMoving

func (a *ArmIK) IsMoving(ctx context.Context) (bool, error)

IsMoving is always false for a fake arm.

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.

func (*ArmIK) MoveToPosition

func (a *ArmIK) MoveToPosition(
	ctx context.Context,
	pos *commonpb.Pose,
	worldState *commonpb.WorldState,
	extra map[string]interface{},
) error

MoveToPosition sets the position.

func (*ArmIK) Stop

func (a *ArmIK) Stop(ctx context.Context, extra map[string]interface{}) error

Stop doesn't do anything for a fake arm.