Documentation
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Overview ¶
Package wheeled implements some bases, like a wheeled base.
Index ¶
Constants ¶
This section is empty.
Variables ¶
This section is empty.
Functions ¶
func CreateWheeledBase ¶
func CreateWheeledBase( ctx context.Context, deps registry.Dependencies, cfg config.Component, logger golog.Logger, ) (base.LocalBase, error)
CreateWheeledBase returns a new wheeled base defined by the given config.
func WrapWithKinematics ¶ added in v0.2.28
func WrapWithKinematics(ctx context.Context, base *wheeledBase, slam slam.Service) (base.KinematicBase, error)
WrapWithKinematics takes a wheeledBase component and adds a slam service to it It also adds kinematic model so that it can be controlled.
Types ¶
type AttrConfig ¶ added in v0.2.21
type AttrConfig struct { WidthMM int `json:"width_mm"` WheelCircumferenceMM int `json:"wheel_circumference_mm"` SpinSlipFactor float64 `json:"spin_slip_factor,omitempty"` Left []string `json:"left"` Right []string `json:"right"` }
AttrConfig is how you configure a wheeled base.
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