slam

Documentation

Overview

Package slam implements simultaneous localization and mapping. This is an Experimental package.

Index

• Constants
• Variables
• func HelperConcatenateChunksToFull(f func() ([]byte, error)) ([]byte, error)
• func InternalStateFull(ctx context.Context, slamSvc Service) ([]byte, error)
• func Limits(ctx context.Context, svc Service) ([]referenceframe.Limit, error)
• func Named(name string) resource.Name
• func NewRPCServiceServer(coll resource.APIResourceCollection[Service]) interface{}
• func PointCloudMapFull(ctx context.Context, slamSvc Service) ([]byte, error)
• type MappingMode
• type Properties
• type Service
  • func FromDependencies(deps resource.Dependencies, name string) (Service, error)
  • func FromRobot(r robot.Robot, name string) (Service, error)
  • func NewClientFromConn(ctx context.Context, conn rpc.ClientConn, remoteName string, ...) (Service, error)

Constants

const (
	SubtypeName       = "slam"
	MappingModeNewMap = MappingMode(iota)
	MappingModeLocalizationOnly
	MappingModeUpdateExistingMap
)

SubtypeName is the name of the type of service.

Variables

var API = resource.APINamespaceRDK.WithServiceType(SubtypeName)

API is a variable that identifies the slam resource API.

Functions

func HelperConcatenateChunksToFull

func HelperConcatenateChunksToFull(f func() ([]byte, error)) ([]byte, error)

HelperConcatenateChunksToFull concatenates the chunks from a streamed grpc endpoint.

func InternalStateFull

func InternalStateFull(ctx context.Context, slamSvc Service) ([]byte, error)

InternalStateFull concatenates the streaming responses from InternalState into the internal serialized state of the slam algorithm.

func Limits

func Limits(ctx context.Context, svc Service) ([]referenceframe.Limit, error)

Limits returns the bounds of the slam map as a list of referenceframe.Limits.

func Named

func Named(name string) resource.Name

Named is a helper for getting the named service's typed resource name.

func NewRPCServiceServer

func NewRPCServiceServer(coll resource.APIResourceCollection[Service]) interface{}

NewRPCServiceServer constructs a the slam gRPC service server. It is intentionally untyped to prevent use outside of tests.

func PointCloudMapFull

func PointCloudMapFull(ctx context.Context, slamSvc Service) ([]byte, error)

PointCloudMapFull concatenates the streaming responses from PointCloudMap into a full point cloud.

Types

type MappingMode

type MappingMode uint8

MappingMode describes what mapping mode the slam service is in, including creating a new map, localizing on an existing map or updating an existing map.

type Properties

type Properties struct {
	CloudSlam   bool
	MappingMode MappingMode
}

Properties returns various information regarding the current slam service, including whether the slam process is running in the cloud and its mapping mode.

type Service

type Service interface {
	resource.Resource
	Position(ctx context.Context) (spatialmath.Pose, string, error)
	PointCloudMap(ctx context.Context) (func() ([]byte, error), error)
	InternalState(ctx context.Context) (func() ([]byte, error), error)
	LatestMapInfo(ctx context.Context) (time.Time, error)
	Properties(ctx context.Context) (Properties, error)
}

Service describes the functions that are available to the service.

func FromDependencies

func FromDependencies(deps resource.Dependencies, name string) (Service, error)

FromDependencies is a helper for getting the named SLAM service from a collection of dependencies.

func FromRobot

func FromRobot(r robot.Robot, name string) (Service, error)

FromRobot is a helper for getting the named SLAM service from the given Robot.

func NewClientFromConn

func NewClientFromConn(
	ctx context.Context,
	conn rpc.ClientConn,
	remoteName string,
	name resource.Name,
	logger logging.Logger,
) (Service, error)

NewClientFromConn constructs a new Client from the connection passed in.