builtin

Documentation

Overview

Package builtin implements a navigation service.

Index

• func NewBuiltIn(ctx context.Context, deps resource.Dependencies, conf resource.Config, ...) (navigation.Service, error)
• type Config
  • func (conf *Config) Validate(path string) ([]string, error)

Functions

func NewBuiltIn

func NewBuiltIn(ctx context.Context, deps resource.Dependencies, conf resource.Config, logger golog.Logger) (navigation.Service, error)

NewBuiltIn returns a new navigation service for the given robot.

Types

type Config

type Config struct {
	Store              navigation.StoreConfig `json:"store"`
	BaseName           string                 `json:"base"`
	MovementSensorName string                 `json:"movement_sensor"`
	MotionServiceName  string                 `json:"motion_service"`
	VisionServices     []string               `json:"vision_services"`

	// DegPerSec and MetersPerSec are targets and not hard limits on speed
	DegPerSec    float64 `json:"degs_per_sec,omitempty"`
	MetersPerSec float64 `json:"meters_per_sec,omitempty"`

	Obstacles                  []*spatialmath.GeoObstacleConfig `json:"obstacles,omitempty"`
	PositionPollingFrequencyHz float64                          `json:"position_polling_frequency_hz,omitempty"`
	ObstaclePollingFrequencyHz float64                          `json:"obstacle_polling_frequency_hz,omitempty"`
	PlanDeviationM             float64                          `json:"plan_deviation_m,omitempty"`
	ReplanCostFactor           float64                          `json:"replan_cost_factor,omitempty"`
	LogFilePath                string                           `json:"log_file_path"`
}

Config describes how to configure the service.

func (*Config) Validate

func (conf *Config) Validate(path string) ([]string, error)

Validate creates the list of implicit dependencies.