fake

Documentation

Overview

Package fake implements a fake slam service

Index

• type SLAM
  • func NewSLAM(name resource.Name, logger logging.Logger) *SLAM
  • func (slamSvc *SLAM) InternalState(ctx context.Context) (func() ([]byte, error), error)
  • func (slamSvc *SLAM) LatestMapInfo(ctx context.Context) (time.Time, error)
  • func (slamSvc *SLAM) Limits(ctx context.Context) ([]referenceframe.Limit, error)
  • func (slamSvc *SLAM) PointCloudMap(ctx context.Context) (func() ([]byte, error), error)
  • func (slamSvc *SLAM) Position(ctx context.Context) (spatialmath.Pose, string, error)
  • func (slamSvc *SLAM) Properties(ctx context.Context) (slam.Properties, error)

Types

type SLAM

type SLAM struct {
	resource.Named
	resource.TriviallyReconfigurable
	resource.TriviallyCloseable
	// contains filtered or unexported fields
}

SLAM is a fake slam that returns generic data.

func NewSLAM

func NewSLAM(name resource.Name, logger logging.Logger) *SLAM

NewSLAM is a constructor for a fake slam service.

func (*SLAM) InternalState

func (slamSvc *SLAM) InternalState(ctx context.Context) (func() ([]byte, error), error)

InternalState returns a callback function which will return the next chunk of the current internal state of the slam algo.

func (*SLAM) LatestMapInfo

func (slamSvc *SLAM) LatestMapInfo(ctx context.Context) (time.Time, error)

LatestMapInfo returns information used to determine whether the slam mode is localizing. Fake Slam is always in mapping mode, so it always returns a new timestamp.

func (*SLAM) Limits

func (slamSvc *SLAM) Limits(ctx context.Context) ([]referenceframe.Limit, error)

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

func (*SLAM) PointCloudMap

func (slamSvc *SLAM) PointCloudMap(ctx context.Context) (func() ([]byte, error), error)

PointCloudMap returns a callback function which will return the next chunk of the current pointcloud map.

func (*SLAM) Position

func (slamSvc *SLAM) Position(ctx context.Context) (spatialmath.Pose, string, error)

Position returns a Pose and a component reference string of the robot's current location according to SLAM.

func (*SLAM) Properties

func (slamSvc *SLAM) Properties(ctx context.Context) (slam.Properties, error)

Properties returns the mapping mode of the slam service as well as a boolean indicating if it is running in the cloud or locally. In the case of fake slam, it will return that the service is being run locally and is creating a new map.