wheeled

Documentation

Overview

Package wheeled implements some bases, like a wheeled base.

Index

• Variables
• func CreateWheeledBase(ctx context.Context, deps registry.Dependencies, cfg config.Component, ...) (base.LocalBase, error)
• func Model(name string, collisionGeometry spatialmath.Geometry, ...) (referenceframe.Model, error)
• type AttrConfig
  • func (cfg *AttrConfig) Validate(path string) ([]string, error)

Variables

var ModelName = resource.NewDefaultModel("wheeled")

ModelName is the name of the wheeled model of a base component.

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 Model

func Model(name string, collisionGeometry spatialmath.Geometry, limits []referenceframe.Limit) (referenceframe.Model, error)

Model builds the kinematic model associated with the kinematicWheeledBase Note that this model is not intended to be registered in the frame system.

Types

type AttrConfig

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.

func (*AttrConfig) Validate

func (cfg *AttrConfig) Validate(path string) ([]string, error)

Validate ensures all parts of the config are valid.