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)
• type ObstacleDetector
• type ObstacleDetectorNameConfig

Functions

func NewBuiltIn

func NewBuiltIn(
	ctx context.Context, deps resource.Dependencies, conf resource.Config, logger logging.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"`
	MapType            string                        `json:"map_type"`
	MovementSensorName string                        `json:"movement_sensor"`
	MotionServiceName  string                        `json:"motion_service"`
	ObstacleDetectors  []*ObstacleDetectorNameConfig `json:"obstacle_detectors"`

	// 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.

type ObstacleDetector

type ObstacleDetector struct {
	VisionService vision.Service
	Camera        camera.Camera
}

ObstacleDetector pairs a vision service with a camera, informing the service about which camera it may use.

type ObstacleDetectorNameConfig

type ObstacleDetectorNameConfig struct {
	VisionServiceName string `json:"vision_service"`
	CameraName        string `json:"camera"`
}

ObstacleDetectorNameConfig is the protobuf version of ObstacleDetectorName.