slam

Documentation

Overview

Package slam implements simultaneous localization and mapping. This is an Experimental package.

Index

• Constants
• Variables
• func GetInternalStateFull(ctx context.Context, slamSvc Service) ([]byte, error)
• func GetPointCloudMapFull(ctx context.Context, slamSvc Service) ([]byte, error)
• func HelperConcatenateChunksToFull(f func() ([]byte, error)) ([]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
  • func FromRobot(r robot.Robot, name string) (Service, error)
  • func NewClientFromConn(ctx context.Context, conn rpc.ClientConn, name string, logger golog.Logger) 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

func GetInternalStateFull(ctx context.Context, slamSvc Service) ([]byte, error)

GetInternalStateFull concatenates the streaming responses from GetInternalState into the internal serialized state of the slam algorithm.

func GetPointCloudMapFull

func GetPointCloudMapFull(ctx context.Context, slamSvc Service) ([]byte, error)

GetPointCloudMapFull concatenates the streaming responses from GetPointCloudMap into a full point cloud.

func HelperConcatenateChunksToFull

func HelperConcatenateChunksToFull(f func() ([]byte, error)) ([]byte, error)

HelperConcatenateChunksToFull concatenates the chunks from a streamed grpc endpoint.

func Named

func Named(name string) resource.Name

Named is a helper for getting the named service's typed resource name.

func NewServer

func NewServer(s subtype.Service) pb.SLAMServiceServer

NewServer constructs a the slam gRPC service server.

func NewUnimplementedInterfaceError

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 Library

type Library uint8

Library type used for slam.

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 Mode

type Mode string

Mode holds the modes a slam model can use.

type Service

type Service interface {
	GetPosition(context.Context) (spatialmath.Pose, string, error)
	GetPointCloudMap(ctx context.Context) (func() ([]byte, error), error)
	GetInternalState(ctx context.Context) (func() ([]byte, error), error)
	resource.Generic
}

Service describes the functions that are available to the service.

func FromRobot

func FromRobot(r robot.Robot, name string) (Service, error)

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.