Documentation
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Overview ¶
Package wrapper is a package that defines an implementation that wraps a partially implemented arm
Index ¶
- func NewWrapperArm(cfg config.Component, r robot.Robot, logger golog.Logger) (arm.LocalArm, error)
- type Arm
- func (wrapper *Arm) CurrentInputs(ctx context.Context) ([]referenceframe.Input, error)
- func (wrapper *Arm) EndPosition(ctx context.Context, extra map[string]interface{}) (spatialmath.Pose, error)
- func (wrapper *Arm) GoToInputs(ctx context.Context, goal []referenceframe.Input) error
- func (wrapper *Arm) IsMoving(ctx context.Context) (bool, error)
- func (wrapper *Arm) JointPositions(ctx context.Context, extra map[string]interface{}) (*pb.JointPositions, error)
- func (wrapper *Arm) ModelFrame() referenceframe.Model
- func (wrapper *Arm) MoveToJointPositions(ctx context.Context, joints *pb.JointPositions, extra map[string]interface{}) error
- func (wrapper *Arm) MoveToPosition(ctx context.Context, pos spatialmath.Pose, ...) error
- func (wrapper *Arm) Stop(ctx context.Context, extra map[string]interface{}) error
- func (wrapper *Arm) UpdateAction(c *config.Component) config.UpdateActionType
- type AttrConfig
Constants ¶
This section is empty.
Variables ¶
This section is empty.
Functions ¶
Types ¶
type Arm ¶
type Arm struct { generic.Unimplemented Name string // contains filtered or unexported fields }
Arm wraps a partial implementation of another arm.
func (*Arm) CurrentInputs ¶
CurrentInputs returns the current inputs of the arm.
func (*Arm) EndPosition ¶
func (wrapper *Arm) EndPosition(ctx context.Context, extra map[string]interface{}) (spatialmath.Pose, error)
EndPosition returns the set position.
func (*Arm) GoToInputs ¶
GoToInputs moves the arm to the specified goal inputs.
func (*Arm) JointPositions ¶
func (wrapper *Arm) JointPositions(ctx context.Context, extra map[string]interface{}) (*pb.JointPositions, error)
JointPositions returns the set joints.
func (*Arm) ModelFrame ¶
func (wrapper *Arm) ModelFrame() referenceframe.Model
ModelFrame returns the dynamic frame of the model.
func (*Arm) MoveToJointPositions ¶
func (wrapper *Arm) MoveToJointPositions(ctx context.Context, joints *pb.JointPositions, extra map[string]interface{}) error
MoveToJointPositions sets the joints.
func (*Arm) MoveToPosition ¶
func (wrapper *Arm) MoveToPosition( ctx context.Context, pos spatialmath.Pose, worldState *referenceframe.WorldState, extra map[string]interface{}, ) error
MoveToPosition sets the position.
func (*Arm) UpdateAction ¶ added in v0.2.24
func (wrapper *Arm) UpdateAction(c *config.Component) config.UpdateActionType
UpdateAction helps hinting the reconfiguration process on what strategy to use given a modified config. See config.UpdateActionType for more information.
type AttrConfig ¶
type AttrConfig struct { ModelFilePath string `json:"model-path"` ArmName string `json:"arm-name"` }
AttrConfig is used for converting config attributes.