fake

Documentation

Overview

Package fake implements a fake slam service.

Index

• type SLAM
  • func (slamSvc *SLAM) GetInternalState(ctx context.Context, name string) ([]byte, error)
  • func (slamSvc *SLAM) GetInternalStateStream(ctx context.Context, name string) (func() ([]byte, error), error)
  • func (slamSvc *SLAM) GetMap(ctx context.Context, name, mimeType string, cp *referenceframe.PoseInFrame, ...) (string, image.Image, *vision.Object, error)
  • func (slamSvc *SLAM) GetPointCloudMapStream(ctx context.Context, name string) (func() ([]byte, error), error)
  • func (slamSvc *SLAM) GetPosition(ctx context.Context, name string) (spatialmath.Pose, string, error)
  • func (slamSvc *SLAM) Position(ctx context.Context, name string, extra map[string]interface{}) (*referenceframe.PoseInFrame, error)

Types

type SLAM

type SLAM struct {
	generic.Echo
	Name string
	// contains filtered or unexported fields
}

SLAM is a fake slam that returns generic data.

func (*SLAM) GetInternalState

func (slamSvc *SLAM) GetInternalState(ctx context.Context, name string) ([]byte, error)

GetInternalState returns the internal state of a slam algo. Currently the internal state of cartographer.

func (*SLAM) GetInternalStateStream

func (slamSvc *SLAM) GetInternalStateStream(ctx context.Context, name string) (func() ([]byte, error), error)

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

func (*SLAM) GetMap

func (slamSvc *SLAM) GetMap(ctx context.Context, name, mimeType string, cp *referenceframe.PoseInFrame,
	include bool, extra map[string]interface{},
) (string, image.Image, *vision.Object, error)

GetMap returns either a vision.Object or image.Image based on request mimeType.

func (*SLAM) GetPointCloudMapStream

func (slamSvc *SLAM) GetPointCloudMapStream(ctx context.Context, name string) (func() ([]byte, error), error)

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

func (*SLAM) GetPosition

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

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

func (*SLAM) Position

func (slamSvc *SLAM) Position(ctx context.Context, name string, extra map[string]interface{}) (*referenceframe.PoseInFrame, error)

Position returns a PoseInFrame of the robot's current location according to SLAM.