Documentation ¶
Overview ¶
Package slam implements simultaneous localization and mapping
Package slam implements simultaneous localization and mapping
Index ¶
- Constants
- Variables
- func Named(name string) resource.Name
- func NewServer(s subtype.Service) pb.SLAMServiceServer
- func NewUnimplementedInterfaceError(actual interface{}) error
- func WrapWithReconfigurable(s interface{}) (resource.Reconfigurable, error)
- type Library
- type LibraryMetadata
- type Mode
- type Service
Constants ¶
const ( // Dense is a Library type. Dense = Library(iota) // Sparse is a Library type. Sparse // Mono is a mode a slam model can use. Mono = Mode("mono") // Rgbd is a mode a slam model can use. Rgbd = Mode("rgbd") // Dim2d is a mode a slam model can use. Dim2d = Mode("2d") // Dim3d is a mode a slam model can use. Dim3d = Mode("3d") )
const SubtypeName = resource.SubtypeName("slam")
SubtypeName is the name of the type of service.
Variables ¶
var SLAMLibraries = map[string]LibraryMetadata{
"cartographer": cartographerMetadata,
"orbslamv3": orbslamv3Metadata,
}
SLAMLibraries contains a map of available slam libraries.
var Subtype = resource.NewSubtype( resource.ResourceNamespaceRDK, resource.ResourceTypeService, SubtypeName, )
Subtype is a constant that identifies the slam resource subtype.
Functions ¶
func NewServer ¶
func NewServer(s subtype.Service) pb.SLAMServiceServer
NewServer constructs a the slam gRPC service server.
func NewUnimplementedInterfaceError ¶ added in v0.1.0
func NewUnimplementedInterfaceError(actual interface{}) error
NewUnimplementedInterfaceError is used when there is a failed interface check.
func WrapWithReconfigurable ¶
func WrapWithReconfigurable(s interface{}) (resource.Reconfigurable, error)
WrapWithReconfigurable wraps a slam service as a Reconfigurable.
Types ¶
type LibraryMetadata ¶
type LibraryMetadata struct { AlgoName string AlgoType Library SlamMode map[string]Mode BinaryLocation string }
LibraryMetadata contains all pertinent information for defining a SLAM library/algorithm including the Sparse/Dense definition.
type Service ¶
type Service interface { Position(context.Context, string) (*referenceframe.PoseInFrame, error) GetMap(context.Context, string, string, *referenceframe.PoseInFrame, bool) (string, image.Image, *vision.Object, error) }
Service describes the functions that are available to the service.
func NewClientFromConn ¶
func NewClientFromConn(ctx context.Context, conn rpc.ClientConn, name string, logger golog.Logger) Service
NewClientFromConn constructs a new Client from the connection passed in.
Directories ¶
Path | Synopsis |
---|---|
Package builtin implements simultaneous localization and mapping
|
Package builtin implements simultaneous localization and mapping |
Package internal implements a slam service definition with additional exported functions for the purpose of testing
|
Package internal implements a slam service definition with additional exported functions for the purpose of testing |
Package register registers all relevant slam models and also subtype specific functions
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Package register registers all relevant slam models and also subtype specific functions |