fake

Documentation

Overview

Package fake implements a fake arm.

Index

• Variables
• func NewArm(cfg config.Component, logger golog.Logger) (arm.LocalArm, error)
• type Arm
  • func (a *Arm) Close()
  • func (a *Arm) CurrentInputs(ctx context.Context) ([]referenceframe.Input, error)
  • func (a *Arm) EndPosition(ctx context.Context, extra map[string]interface{}) (spatialmath.Pose, error)
  • func (a *Arm) GoToInputs(ctx context.Context, goal []referenceframe.Input) error
  • func (a *Arm) IsMoving(ctx context.Context) (bool, error)
  • func (a *Arm) JointPositions(ctx context.Context, extra map[string]interface{}) (*pb.JointPositions, error)
  • func (a *Arm) ModelFrame() referenceframe.Model
  • func (a *Arm) MoveToJointPositions(ctx context.Context, joints *pb.JointPositions, extra map[string]interface{}) error
  • func (a *Arm) MoveToPosition(ctx context.Context, pos spatialmath.Pose, ...) error
  • func (a *Arm) Stop(ctx context.Context, extra map[string]interface{}) error
• type AttrConfig
  • func (config *AttrConfig) Validate(path string) error

Variables

var ModelName = resource.NewDefaultModel("fake")

ModelName is the string used to refer to the fake arm model.

Functions

func NewArm

func NewArm(cfg config.Component, logger golog.Logger) (arm.LocalArm, error)

NewArm returns a new fake arm.

Types

type Arm

type Arm struct {
	generic.Echo
	Name string

	CloseCount int
	// contains filtered or unexported fields
}

Arm is a fake arm that can simply read and set properties.

func (*Arm) Close

func (a *Arm) Close()

Close does nothing.

func (*Arm) CurrentInputs

func (a *Arm) CurrentInputs(ctx context.Context) ([]referenceframe.Input, error)

CurrentInputs TODO.

func (*Arm) EndPosition

func (a *Arm) EndPosition(ctx context.Context, extra map[string]interface{}) (spatialmath.Pose, error)

EndPosition returns the set position.

func (*Arm) GoToInputs

func (a *Arm) GoToInputs(ctx context.Context, goal []referenceframe.Input) error

GoToInputs TODO.

func (*Arm) IsMoving

func (a *Arm) IsMoving(ctx context.Context) (bool, error)

IsMoving is always false for a fake arm.

func (*Arm) JointPositions

func (a *Arm) JointPositions(ctx context.Context, extra map[string]interface{}) (*pb.JointPositions, error)

JointPositions returns joints.

func (*Arm) ModelFrame

func (a *Arm) ModelFrame() referenceframe.Model

ModelFrame returns the dynamic frame of the model.

func (*Arm) MoveToJointPositions

func (a *Arm) MoveToJointPositions(ctx context.Context, joints *pb.JointPositions, extra map[string]interface{}) error

MoveToJointPositions sets the joints.

func (*Arm) MoveToPosition

func (a *Arm) MoveToPosition(
	ctx context.Context,
	pos spatialmath.Pose,
	worldState *referenceframe.WorldState,
	extra map[string]interface{},
) error

MoveToPosition sets the position.

func (*Arm) Stop

func (a *Arm) Stop(ctx context.Context, extra map[string]interface{}) error

Stop doesn't do anything for a fake arm.

type AttrConfig

type AttrConfig struct {
	ArmModel      string `json:"arm-model,omitempty"`
	ModelFilePath string `json:"model-path,omitempty"`
}

AttrConfig is used for converting config attributes.

func (*AttrConfig) Validate

func (config *AttrConfig) Validate(path string) error

Validate ensures all parts of the config are valid.