Documentation
¶
Overview ¶
Package movementsensor defines the interfaces of a MovementSensor
Index ¶
- Constants
- Variables
- func DependencyTypeError(name string, actual interface{}) error
- func GetHeading(gps1, gps2 *geo.Point, yawOffset float64) (float64, float64, float64)
- func Named(name string) resource.Name
- func NamesFromRobot(r robot.Robot) []string
- func NewServer(s subtype.Service) pb.MovementSensorServiceServer
- func NewUnimplementedInterfaceError(actual interface{}) error
- func Readings(ctx context.Context, g MovementSensor, extra map[string]interface{}) (map[string]interface{}, error)
- func WrapWithReconfigurable(r interface{}, name resource.Name) (resource.Reconfigurable, error)
- type LastError
- type MovementSensor
- type Properties
Constants ¶
const SubtypeName = resource.SubtypeName("movement_sensor")
SubtypeName is a constant that identifies the component resource subtype string "movement_sensor".
Variables ¶
var ( // ErrMethodUnimplementedAccuracy returns error if the Accuracy method is unimplemented. ErrMethodUnimplementedAccuracy = errors.New("Accuracy Unimplemented") // ErrMethodUnimplementedPosition returns error if the Position method is unimplemented. ErrMethodUnimplementedPosition = errors.New("Position Unimplemented") // ErrMethodUnimplementedOrientation returns error if the Orientation method is unimplemented. ErrMethodUnimplementedOrientation = errors.New("Orientation Unimplemented") // ErrMethodUnimplementedLinearVelocity returns error if the LinearVelocity method is unimplemented. ErrMethodUnimplementedLinearVelocity = errors.New("LinearVelocity Unimplemented") // ErrMethodUnimplementedAngularVelocity returns error if the AngularVelocity method is unimplemented. ErrMethodUnimplementedAngularVelocity = errors.New("AngularVelocity Unimplemented") // ErrMethodUnimplementedCompassHeading returns error if the CompassHeading method is unimplemented. ErrMethodUnimplementedCompassHeading = errors.New("CompassHeading Unimplemented") // ErrMethodUnimplementedReadings returns error if the Readings method is unimplemented. ErrMethodUnimplementedReadings = errors.New("Readings Unimplemented") // ErrMethodUnimplementedProperties returns error if the Properties method is unimplemented. ErrMethodUnimplementedProperties = errors.New("Properties Unimplemented") // ErrMethodUnimplementedLinearAcceleration returns error if Linear Acceleration is unimplemented. ErrMethodUnimplementedLinearAcceleration = errors.New("linear acceleration unimplemented") )
var Subtype = resource.NewSubtype( resource.ResourceNamespaceRDK, resource.ResourceTypeComponent, SubtypeName, )
Subtype is a constant that identifies the component resource subtype.
Functions ¶
func DependencyTypeError ¶
DependencyTypeError is used when a resource doesn't implement the expected interface.
func GetHeading ¶
GetHeading calculates bearing and absolute heading angles given 2 MovementSensor coordinates 0 degrees indicate North, 90 degrees indicate East and so on.
func NamesFromRobot ¶
NamesFromRobot is a helper for getting all MovementSensor names from the given Robot.
func NewServer ¶
func NewServer(s subtype.Service) pb.MovementSensorServiceServer
NewServer constructs an MovementSensor gRPC service subtypeServer.
func NewUnimplementedInterfaceError ¶
func NewUnimplementedInterfaceError(actual interface{}) error
NewUnimplementedInterfaceError is used when there is a failed interface check.
func Readings ¶
func Readings(ctx context.Context, g MovementSensor, extra map[string]interface{}) (map[string]interface{}, error)
Readings is a helper for getting all readings from a MovementSensor.
func WrapWithReconfigurable ¶
func WrapWithReconfigurable(r interface{}, name resource.Name) (resource.Reconfigurable, error)
WrapWithReconfigurable - if MovementSensor is already a reconfigurableMovementSensor, then nothing is done. Otherwise wraps in a Reconfigurable.
Types ¶
type LastError ¶ added in v0.2.19
type LastError struct {
// contains filtered or unexported fields
}
LastError is an object that stores the most recent error.
type MovementSensor ¶
type MovementSensor interface { Position(ctx context.Context, extra map[string]interface{}) (*geo.Point, float64, error) // (lat, long), altitide (mm) LinearVelocity(ctx context.Context, extra map[string]interface{}) (r3.Vector, error) // mm / sec AngularVelocity(ctx context.Context, extra map[string]interface{}) (spatialmath.AngularVelocity, error) // radians / sec LinearAcceleration(ctx context.Context, extra map[string]interface{}) (r3.Vector, error) CompassHeading(ctx context.Context, extra map[string]interface{}) (float64, error) // [0->360) Orientation(ctx context.Context, extra map[string]interface{}) (spatialmath.Orientation, error) Properties(ctx context.Context, extra map[string]interface{}) (*Properties, error) Accuracy(ctx context.Context, extra map[string]interface{}) (map[string]float32, error) // in mm generic.Generic sensor.Sensor }
A MovementSensor reports information about the robot's direction, position and speed.
func FromDependencies ¶
func FromDependencies(deps registry.Dependencies, name string) (MovementSensor, error)
FromDependencies is a helper for getting the named movementsensor from a collection of dependencies.
func FromRobot ¶
func FromRobot(r robot.Robot, name string) (MovementSensor, error)
FromRobot is a helper for getting the named MovementSensor from the given Robot.
func NewClientFromConn ¶
func NewClientFromConn(ctx context.Context, conn rpc.ClientConn, name string, logger golog.Logger) MovementSensor
NewClientFromConn constructs a new Client from connection passed in.
type Properties ¶
type Properties pb.GetPropertiesResponse
Properties tells you what a MovementSensor supports.
Directories
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Path | Synopsis |
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Package adxl345 implements the MovementSensor interface for the ADXL345 accelerometer attached to an I2C bus on the robot (the chip supports communicating over SPI as well, but this package does not support that interface).
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Package adxl345 implements the MovementSensor interface for the ADXL345 accelerometer attached to an I2C bus on the robot (the chip supports communicating over SPI as well, but this package does not support that interface). |
Package cameramono implements a visual odemetry movement sensor based ona single camera stream This is an Experimental package
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Package cameramono implements a visual odemetry movement sensor based ona single camera stream This is an Experimental package |
Package fake is a fake MovementSensor for testing
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Package fake is a fake MovementSensor for testing |
Package gpsnmea implements an NMEA serial gps.
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Package gpsnmea implements an NMEA serial gps. |
Package gpsrtk defines a gps and an rtk correction source which sends rtcm data to a child gps This is an Experimental package
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Package gpsrtk defines a gps and an rtk correction source which sends rtcm data to a child gps This is an Experimental package |
Package imuvectornav implement vectornav imu
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Package imuvectornav implement vectornav imu |
Package imuwit implements wit imus.
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Package imuwit implements wit imus. |
Package mpu6050 implements the movementsensor interface for an MPU-6050 6-axis accelerometer.
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Package mpu6050 implements the movementsensor interface for an MPU-6050 6-axis accelerometer. |
Package register registers all relevant MovementSensors
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Package register registers all relevant MovementSensors |