Documentation ¶
Overview ¶
Package slam implements simultaneous localization and mapping This is an Experimental package
Package slam implements simultaneous localization and mapping This is an Experimental package
Package slam implements simultaneous localization and mapping This is an Experimental package
Package slam implements simultaneous localization and mapping This is an Experimental package
Index ¶
- Constants
- Variables
- func GetInternalStateFull(ctx context.Context, slamSvc Service, name string) ([]byte, error)
- func GetPointCloudMapFull(ctx context.Context, slamSvc Service, name string) ([]byte, error)
- func Named(name string) resource.Name
- func NewServer(s subtype.Service) pb.SLAMServiceServer
- func NewUnimplementedInterfaceError(actual interface{}) error
- func WrapWithReconfigurable(s interface{}, name resource.Name) (resource.Reconfigurable, error)
- type Library
- type LibraryMetadata
- type Mode
- type Service
Constants ¶
const ( // Dense is a Library type. Dense = Library(iota) // Sparse is a Library type. Sparse // Mono is a mode a slam model can use. Mono = Mode("mono") // Rgbd is a mode a slam model can use. Rgbd = Mode("rgbd") // Dim2d is a mode a slam model can use. Dim2d = Mode("2d") // Dim3d is a mode a slam model can use. Dim3d = Mode("3d") )
const SubtypeName = resource.SubtypeName("slam")
SubtypeName is the name of the type of service.
Variables ¶
var SLAMLibraries = map[string]LibraryMetadata{
"cartographer": cartographerMetadata,
"orbslamv3": orbslamv3Metadata,
}
SLAMLibraries contains a map of available slam libraries.
var Subtype = resource.NewSubtype( resource.ResourceNamespaceRDK, resource.ResourceTypeService, SubtypeName, )
Subtype is a constant that identifies the slam resource subtype.
Functions ¶
func GetInternalStateFull ¶ added in v0.2.21
GetInternalStateFull concatenates the streaming responses from GetInternalState into the internal serialized state of the slam algorithm.
func GetPointCloudMapFull ¶ added in v0.2.21
GetPointCloudMapFull concatenates the streaming responses from GetPointCloudMap into a full point cloud.
func NewServer ¶
func NewServer(s subtype.Service) pb.SLAMServiceServer
NewServer constructs a the slam gRPC service server.
func NewUnimplementedInterfaceError ¶ added in v0.1.0
func NewUnimplementedInterfaceError(actual interface{}) error
NewUnimplementedInterfaceError is used when there is a failed interface check.
func WrapWithReconfigurable ¶
func WrapWithReconfigurable(s interface{}, name resource.Name) (resource.Reconfigurable, error)
WrapWithReconfigurable wraps a slam service as a Reconfigurable.
Types ¶
type LibraryMetadata ¶
type LibraryMetadata struct { AlgoName string AlgoType Library SlamMode map[string]Mode BinaryLocation string }
LibraryMetadata contains all pertinent information for defining a SLAM library/algorithm including the Sparse/Dense definition.
type Service ¶
type Service interface { GetPosition(context.Context, string) (spatialmath.Pose, string, error) GetPointCloudMap(ctx context.Context, name string) (func() ([]byte, error), error) GetInternalState(ctx context.Context, name string) (func() ([]byte, error), error) resource.Generic }
Service describes the functions that are available to the service.
func FromRobot ¶ added in v0.2.32
FromRobot is a helper for getting the named SLAM service from the given Robot.
func NewClientFromConn ¶
func NewClientFromConn(ctx context.Context, conn rpc.ClientConn, name string, logger golog.Logger) Service
NewClientFromConn constructs a new Client from the connection passed in.
Directories ¶
Path | Synopsis |
---|---|
Package builtin implements simultaneous localization and mapping This is an Experimental package
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Package builtin implements simultaneous localization and mapping This is an Experimental package |
Package fake implements a fake slam service.
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Package fake implements a fake slam service. |
Package grpchelper implements helper functions to be used with slam service grpc clients
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Package grpchelper implements helper functions to be used with slam service grpc clients |
internal
|
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testhelper
Package testhelper implements a slam service definition with additional exported functions for the purpose of testing
|
Package testhelper implements a slam service definition with additional exported functions for the purpose of testing |
Package register registers all relevant slam models and also subtype specific functions
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Package register registers all relevant slam models and also subtype specific functions |
slam_copy
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config
Package config implements functions to assist with attribute evaluation in the SLAM service
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Package config implements functions to assist with attribute evaluation in the SLAM service |
dataprocess
Package dataprocess manages code related to the data-saving process
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Package dataprocess manages code related to the data-saving process |
testhelper
Package testhelper provides helper functions for testing implementations of slam libraries
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Package testhelper provides helper functions for testing implementations of slam libraries |
utils
Package utils contains helper functions for the slam library implementations
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Package utils contains helper functions for the slam library implementations |