fake

Documentation

Overview

Package fake implements a fake gantry.

Index

• func NewGantry(name string) gantry.LocalGantry
• type Gantry
  • func (g *Gantry) CurrentInputs(ctx context.Context) ([]referenceframe.Input, error)
  • func (g *Gantry) GoToInputs(ctx context.Context, goal []referenceframe.Input) error
  • func (g *Gantry) IsMoving(ctx context.Context) (bool, error)
  • func (g *Gantry) Lengths(ctx context.Context, extra map[string]interface{}) ([]float64, error)
  • func (g *Gantry) ModelFrame() referenceframe.Model
  • func (g *Gantry) MoveToPosition(ctx context.Context, positionsMm []float64, worldState *commonpb.WorldState, ...) error
  • func (g *Gantry) Position(ctx context.Context, extra map[string]interface{}) ([]float64, error)
  • func (g *Gantry) Stop(ctx context.Context, extra map[string]interface{}) error

Functions

func NewGantry

func NewGantry(name string) gantry.LocalGantry

NewGantry returns a new fake gantry.

Types

type Gantry

type Gantry struct {
	generic.Echo
	// contains filtered or unexported fields
}

Gantry is a fake gantry that can simply read and set properties.

func (*Gantry) CurrentInputs

func (g *Gantry) CurrentInputs(ctx context.Context) ([]referenceframe.Input, error)

CurrentInputs returns positions in the Gantry frame model..

func (*Gantry) GoToInputs

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

GoToInputs moves using the Gantry frames..

func (*Gantry) IsMoving

func (g *Gantry) IsMoving(ctx context.Context) (bool, error)

IsMoving is always false for a fake gantry.

func (*Gantry) Lengths

func (g *Gantry) Lengths(ctx context.Context, extra map[string]interface{}) ([]float64, error)

Lengths returns the position in meters.

func (*Gantry) ModelFrame

func (g *Gantry) ModelFrame() referenceframe.Model

ModelFrame returns a Gantry frame.

func (*Gantry) MoveToPosition

func (g *Gantry) MoveToPosition(
	ctx context.Context,
	positionsMm []float64,
	worldState *commonpb.WorldState,
	extra map[string]interface{},
) error

MoveToPosition is in meters.

func (*Gantry) Position

func (g *Gantry) Position(ctx context.Context, extra map[string]interface{}) ([]float64, error)

Position returns the position in meters.

func (*Gantry) Stop

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

Stop doesn't do anything for a fake gantry.