fake

Documentation

Overview

Package fake implements a fake slam service.

Index

• type SLAM
  • func NewSLAM(name string, logger golog.Logger) *SLAM
  • func (slamSvc *SLAM) GetInternalStateStream(ctx context.Context, name string) (func() ([]byte, error), 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)

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 NewSLAM

func NewSLAM(name string, logger golog.Logger) *SLAM

NewSLAM is a constructor for a fake slam service.

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) 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.