state

Documentation

Overview

Package state provides apis for motion builtin plan executions and manages the state of those executions

Index

• type ExecuteResponse
• type PlanExecutorConstructor
• type PlanResponse
• type PlannerExecutor
• type State
  • func NewState(ctx context.Context, logger logging.Logger) *State
  • func (s *State) Stop()
• type Waypoints

Types

type ExecuteResponse

type ExecuteResponse struct {
	// If true, the Execute function didn't reach the goal & the caller should replan
	Replan bool
	// Set if Replan is true, describes why replanning was triggered
	ReplanReason string
}

ExecuteResponse is the response from Execute.

type PlanExecutorConstructor

type PlanExecutorConstructor[R any] func(
	ctx context.Context,
	req R,
	seedPlan motionplan.Plan,
	replanCount int,
) (PlannerExecutor, error)

PlanExecutorConstructor creates a PlannerExecutor if ctx is cancelled then all PlannerExecutor interface methods must terminate & return errors req is the request that will be used during planning & execution seedPlan (nil during the first plan) is the previous plan if replanning has occurred replanCount is the number of times replanning has occurred, zero the first time planning occurs. R is a genric type which is able to be used to create a PlannerExecutor.

type PlanResponse

type PlanResponse struct {
	Waypoints        Waypoints
	Motionplan       motionplan.Plan
	PosesByComponent []motion.PlanStep
}

PlanResponse is the response from Plan.

type PlannerExecutor

type PlannerExecutor interface {
	Plan() (PlanResponse, error)
	Execute(Waypoints) (ExecuteResponse, error)
	Cancel()
}

PlannerExecutor implements Plan and Execute.

type State

type State struct{}

State is the state of the builtin motion service It keeps track of the builtin motion service's executions.

func NewState

func NewState(ctx context.Context, logger logging.Logger) *State

NewState creates a new state.

func (*State) Stop

func (s *State) Stop()

Stop stops all executions within the State.

type Waypoints

type Waypoints [][]referenceframe.Input

Waypoints represent the waypoints of the plan.