Documentation
¶
Overview ¶
Package utils contains all utility functions that currently have no better home than here. Consider moving them to go.viam.com/utils.
Index ¶
- Constants
- Variables
- func AbsInt(n int) int
- func AbsInt64(n int64) int64
- func AngleDiffDeg(a1, a2 float64) float64
- func AntiCWDeg(deg float64) float64
- func BytesFromFloat32BE(v float32) []byte
- func BytesFromFloat32LE(v float32) []byte
- func BytesFromFloat64BE(v float64) []byte
- func BytesFromFloat64LE(v float64) []byte
- func BytesFromUint32BE(v uint32) []byte
- func BytesFromUint32LE(v uint32) []byte
- func CheckLazyMIMEType(mimeType string) (string, bool)
- func Clamp(value, min, max float64) float64
- func ComputeDistance(p1, p2 []float64, distType DistanceType) (float64, error)
- func CubeRoot(x float64) float64
- func CycleIntSliceByN(s []int, n int) []int
- func DegToRad(degrees float64) float64
- func DependencyNotFoundError(name string) error
- func DependencyTypeError[T any](name string, actual interface{}) error
- func EuclideanDistance(p1, p2 []float64) (float64, error)
- func Float32FromBytesBE(bytes []byte) float32
- func Float32FromBytesLE(bytes []byte) float32
- func Float64AlmostEqual(a, b, epsilon float64) bool
- func Float64FromBytesBE(bytes []byte) float64
- func Float64FromBytesLE(bytes []byte) float64
- func GetArgMinDistancesPerRow(distances *mat.Dense) []int
- func GetArgMinDistancesPerRowInt(distances [][]int) []int
- func GroupWorkParallel(ctx context.Context, totalSize int, before BeforeParallelGroupWorkFunc, ...) error
- func HammingDistance(p1, p2 []float64) (float64, error)
- func Int16FromBytesBE(bytes []byte) int16
- func Int16FromBytesLE(bytes []byte) int16
- func MaxInt(a, b int) int
- func MaxUint8(a, b uint8) uint8
- func Median(values ...float64) float64
- func MinInt(a, b int) int
- func MinUint8(a, b uint8) uint8
- func ModAngDeg(ang float64) float64
- func NewRemoteResourceClashError(name string) error
- func NewResourceNotAvailableError(name resource.Name, err error) error
- func NewResourceNotFoundError(name resource.Name) error
- func NewUnexpectedTypeError(expected, actual interface{}) error
- func NewUnimplementedInterfaceError(expected, actual interface{}) error
- func PairwiseDistance(pts1, pts2 [][]float64, distType DistanceType) (*mat.Dense, error)
- func ParallelForEachPixel(size image.Point, f func(x, y int))
- func RadToDeg(radians float64) float64
- func ResolveFile(fn string) string
- func RunInParallel(ctx context.Context, fs []SimpleFunc) (time.Duration, error)
- func SampleNIntegersNormal(n int, vMin, vMax float64) []int
- func SampleNIntegersUniform(n int, vMin, vMax float64) []int
- func SampleNRegularlySpaced(n int, vMin, vMax float64) []int
- func SampleRandomIntRange(min, max int, r *rand.Rand) int
- func ScaleByPct(n int, pct float64) int
- func SelectNIndicesWithoutReplacement(nSamples, nMax int) ([]int, error)
- func Single(dim int, x []float64) [][]float64
- func Square(n float64) float64
- func SquareInt(n int) int
- func SubFor(sub []int, idx int, dims []int) []int
- func Transpose(slice [][]int) [][]int
- func Uint32FromBytesBE(bytes []byte) uint32
- func Uint32FromBytesLE(bytes []byte) uint32
- func UnwrapProxy(v interface{}) interface{}
- func Walk(middleX, middleY, maxRadius int, f WalkCallback) error
- func WithLazyMIMEType(mimeType string) string
- type BeforeParallelGroupWorkFunc
- type CLFBaseMessage
- type CLFMessage
- type CLFMessageType
- type CLFOdometryMessage
- type CLFOldLaserMessage
- type CLFParamMessage
- type CLFReader
- type DistanceType
- type GroupWorkDoneFunc
- type GroupWorkFunc
- type MemberWorkFunc
- type ProxyType
- type RollingAverage
- type SimpleFunc
- type TypedName
- type Vec2Fs
- type Vec2Matrix
- type WalkCallback
Constants ¶
const ( // CredentialsTypeRobotSecret is for credentials used against the cloud managing this robot. CredentialsTypeRobotSecret = "robot-secret" // CredentialsTypeRobotLocationSecret is for credentials used against the cloud managing this robot's location. CredentialsTypeRobotLocationSecret = "robot-location-secret" )
const ( CLFMessageTypeParam = CLFMessageType("PARAM") CLFMessageTypeComment = CLFMessageType("COMMENT") CLFMessageTypeSync = CLFMessageType("SYNC") CLFMessageTypeOdometry = CLFMessageType("ODOM") CLFMessageTypeTruePos = CLFMessageType("TRUEPOS") CLFMessageTypeRawLaser1 = CLFMessageType("RAWLASER1") CLFMessageTypeRawLaser2 = CLFMessageType("RAWLASER2") CLFMessageTypeRawLaser3 = CLFMessageType("RAWLASER3") CLFMessageTypeRawLaser4 = CLFMessageType("RAWLASER4") CLFMessageTypePositionLaser = CLFMessageType("POSITIONLASER") CLFMessageTypeRobotLaser1 = CLFMessageType("ROBOTLASER1") CLFMessageTypeRobotLaser2 = CLFMessageType("ROBOTLASER2") CLFMessageTypeNMEAGGA = CLFMessageType("NMEAGGA") CLFMessageTypeNMEARMC = CLFMessageType("NMEARMC") CLFMessageTypeSonar = CLFMessageType("SONAR") CLFMessageTypeBumper = CLFMessageType("BUMPER") CLFMessageTypeScanMark = CLFMessageType("SCANMARK") CLFMessageTypeIMU = CLFMessageType("IMU") CLFMessageTypeVectorMove = CLFMessageType("VECTORMOVE") CLFMessageTypeRobotVelocity = CLFMessageType("ROBOTVELOCITY") CLFMessageTypeFollowTrajectory = CLFMessageType("FOLLOWTRAJECTORY") CLFMessageTypeBaseVelocity = CLFMessageType("BASEVELOCITY") CLFMessageTypeOld = CLFMessageType("OLD") CLFMessageTypeFrontLaser = CLFMessageType("FLASER") CLFMessageTypeRearLaser = CLFMessageType("RLASER") CLFMessageTypeLaser3 = CLFMessageType("LASER3") CLFMessageTypeLaser4 = CLFMessageType("LASER4") CLFMessageTypeRemissionFLaser = CLFMessageType("REMISSIONFLASER") CLFMessageTypeRemissionRLaser = CLFMessageType("REMISSIONRLASER") CLFMessageTypeRemissionLaser3 = CLFMessageType("REMISSIONLASER3") CLFMessageTypeRemissionLaser4 = CLFMessageType("REMISSIONLASER4") )
known message types.
const ( // MimeTypeSuffixLazy is used to indicate a lazy loading of data. MimeTypeSuffixLazy = "lazy" // MimeTypeRawRGBA is for go's internal image.NRGBA. This uses the custom header as // explained in the comments for rimage.DecodeImage and rimage.EncodeImage. MimeTypeRawRGBA = "image/vnd.viam.rgba" // MimeTypeRawRGBALazy is a lazy MimeTypeRawRGBA. MimeTypeRawRGBALazy = MimeTypeRawRGBA + "+" + MimeTypeSuffixLazy // MimeTypeRawDepth is for depth images. MimeTypeRawDepth = "image/vnd.viam.dep" // MimeTypeJPEG is regular jpgs. MimeTypeJPEG = "image/jpeg" // MimeTypePNG is regular pngs. MimeTypePNG = "image/png" // MimeTypePCD is for .pcd pountcloud files. MimeTypePCD = "pointcloud/pcd" // MimeTypeQOI is for .qoi "Quite OK Image" for lossless, fast encoding/decoding. MimeTypeQOI = "image/qoi" // MimeTypeTabular used to indicate tabular data, this is used mainly for filtering data. MimeTypeTabular = "x-application/tabular" // MimeTypeDefault used if mimetype cannot be inferred. MimeTypeDefault = "application/octet-stream" )
Variables ¶
var ParallelFactor = runtime.GOMAXPROCS(0)
ParallelFactor controls the max level of parallelization. This might be useful to set in tests where too much parallelism actually slows tests down in aggregate.
Functions ¶
func AngleDiffDeg ¶
AngleDiffDeg returns the closest difference from the two given angles. The arguments are commutative.
func AntiCWDeg ¶
AntiCWDeg flips the given degrees as if you were to start at 0 and go counter-clockwise or vice versa.
func BytesFromFloat32BE ¶
BytesFromFloat32BE converts a float32 to an array of bytes ordered in big-endian.
func BytesFromFloat32LE ¶
BytesFromFloat32LE converts a float32 to an array of bytes ordered in little-endian.
func BytesFromFloat64BE ¶
BytesFromFloat64BE converts a float64 to an array of bytes ordered in big-endian.
func BytesFromFloat64LE ¶
BytesFromFloat64LE converts a float64 to an array of bytes ordered in little-endian.
func BytesFromUint32BE ¶
BytesFromUint32BE converts a uint32 to an array of bytes ordered in big-endian.
func BytesFromUint32LE ¶
BytesFromUint32LE converts a uint32 to an array of bytes ordered in little-endian.
func CheckLazyMIMEType ¶ added in v0.0.8
CheckLazyMIMEType checks the lazy suffix of a MIME.
func Clamp ¶
Clamp returns min if value is lesser than min, max if value is greater them max or value if the input value is between min and max.
func ComputeDistance ¶
func ComputeDistance(p1, p2 []float64, distType DistanceType) (float64, error)
ComputeDistance computes the distance between two vectors stored in a slice of floats.
func CycleIntSliceByN ¶
CycleIntSliceByN cycles the list to the right by n steps.
func DependencyNotFoundError ¶
DependencyNotFoundError is used when a resource is not found in a dependencies.
func DependencyTypeError ¶
DependencyTypeError is used when a resource doesn't implement the expected interface.
func EuclideanDistance ¶
EuclideanDistance computes the euclidean distance between 2 vectors.
func Float32FromBytesBE ¶
Float32FromBytesBE converts an array of byte ordered in big-endian to a float32.
func Float32FromBytesLE ¶
Float32FromBytesLE converts an array of byte ordered in little-endian to a float32.
func Float64AlmostEqual ¶
Float64AlmostEqual compares two float64s and returns if the difference between them is less than epsilon.
func Float64FromBytesBE ¶
Float64FromBytesBE converts an array of byte ordered in big-endian to a float64.
func Float64FromBytesLE ¶
Float64FromBytesLE converts an array of byte ordered in little-endian to a float64.
func GetArgMinDistancesPerRow ¶
GetArgMinDistancesPerRow returns in a slice of int the index of the point with minimum distance for each row.
func GetArgMinDistancesPerRowInt ¶ added in v0.0.9
GetArgMinDistancesPerRowInt returns in a slice of int the index of the point with minimum distance for each row.
func GroupWorkParallel ¶
func GroupWorkParallel(ctx context.Context, totalSize int, before BeforeParallelGroupWorkFunc, groupWork GroupWorkFunc) error
GroupWorkParallel parallelizes the given size of work over multiple workers.
func HammingDistance ¶
HammingDistance computes the hamming distance between two vectors that only contain zeros and ones.
func Int16FromBytesBE ¶ added in v0.2.5
Int16FromBytesBE converts an array of bytes ordered in big-endian to a (signed) int16.
func Int16FromBytesLE ¶ added in v0.2.5
Int16FromBytesLE converts an array of bytes ordered in little-endian to a (signed) int16.
func Median ¶
Median returns the median value of the given values. If there are no values, NaN is returned.
func NewRemoteResourceClashError ¶
NewRemoteResourceClashError is used when you are more than one resource with the same name exist.
func NewResourceNotAvailableError ¶ added in v0.1.6
NewResourceNotAvailableError is used when a resource is not available because of some error.
func NewResourceNotFoundError ¶
NewResourceNotFoundError is used when a resource is not found.
func NewUnexpectedTypeError ¶
func NewUnexpectedTypeError(expected, actual interface{}) error
NewUnexpectedTypeError is used when there is a type mismatch.
func NewUnimplementedInterfaceError ¶
func NewUnimplementedInterfaceError(expected, actual interface{}) error
NewUnimplementedInterfaceError is used when there is a failed interface check. Future: This should also tell you that expected is not even an interface.
func PairwiseDistance ¶
func PairwiseDistance(pts1, pts2 [][]float64, distType DistanceType) (*mat.Dense, error)
PairwiseDistance computes the pairwise distances between 2 sets of points.
func ParallelForEachPixel ¶
ParallelForEachPixel loops through the image and calls f functions for each [x, y] position. The image is divided into N * N blocks, where N is the number of available processor threads. For each block a parallel Goroutine is started.
func ResolveFile ¶
ResolveFile returns the path of the given file relative to the root of the codebase. For example, if this file currently lives in utils/file.go and ./foo/bar/baz is given, then the result is foo/bar/baz. This is helpful when you don't want to relatively refer to files when you're not sure where the caller actually lives in relation to the target file.
func RunInParallel ¶
RunInParallel runs all functions in parallel, return is elapsed time and n error.
func SampleNIntegersNormal ¶
SampleNIntegersNormal samples n integers from normal distribution centered around (vMax+vMin) / 2 and in range [vMin, vMax].
func SampleNIntegersUniform ¶
SampleNIntegersUniform samples n integers uniformly in [vMin, vMax].
func SampleNRegularlySpaced ¶
SampleNRegularlySpaced returns the same set of evenly divided numbers every time, and is mostly used for testing purposes.
func SampleRandomIntRange ¶
SampleRandomIntRange samples a random integer within a range given by [min, max] using the given rand.Rand.
func ScaleByPct ¶
ScaleByPct scales a max number by a floating point percentage between two bounds [0, n].
func SelectNIndicesWithoutReplacement ¶
SelectNIndicesWithoutReplacement select N random indices from [0,nMax] without replacement (no duplicate indices).
func Single ¶
Single generates an n-dimensional Grid using a single set of values. dim specifies the number of dimensions, the entries in x specify the gridded values.
func Square ¶
Square returns the square of the given value. Math.pow( x, 2 ) is slow, this is faster.
func SquareInt ¶
SquareInt returns the square of the given value. Math.pow( x, 2 ) is slow, this is faster.
func SubFor ¶
SubFor constructs the multi-dimensional subscript for the input linear index. dims specify the maximum size in each dimension. If sub is non-nil the result is stored in-place into sub. If it is nil a new slice of the appropriate length is allocated.
func Uint32FromBytesBE ¶
Uint32FromBytesBE converts an array of bytes ordered in big-endian to a uint32.
func Uint32FromBytesLE ¶
Uint32FromBytesLE converts an array of bytes ordered in little-endian to a uint32.
func UnwrapProxy ¶
func UnwrapProxy(v interface{}) interface{}
UnwrapProxy unwraps a proxy as far as possible.
func Walk ¶
func Walk(middleX, middleY, maxRadius int, f WalkCallback) error
Walk starts at the given middle point and walks around increasingly bigger squares based on the given radius growing outwards.
func WithLazyMIMEType ¶ added in v0.0.8
WithLazyMIMEType attaches the lazy suffix to a MIME.
Types ¶
type BeforeParallelGroupWorkFunc ¶
type BeforeParallelGroupWorkFunc func(groupSize int)
BeforeParallelGroupWorkFunc executes before any work starts with the calculated group size.
type CLFBaseMessage ¶
type CLFBaseMessage struct { MessageType CLFMessageType IPCTimestamp float64 IPCHostname string LoggerTimestamp float64 }
CLFBaseMessage is used by all messages and contains basic information about the message.
func (CLFBaseMessage) Base ¶
func (b CLFBaseMessage) Base() CLFBaseMessage
Base returns the base part of the message.
func (CLFBaseMessage) Type ¶
func (b CLFBaseMessage) Type() CLFMessageType
Type returns the type of message this is.
type CLFMessage ¶
type CLFMessage interface { Base() CLFBaseMessage Type() CLFMessageType }
CLFMessage is a specific type of CLF message that always has a base message.
type CLFMessageType ¶
type CLFMessageType string
CLFMessageType describes a specific type of message.
type CLFOdometryMessage ¶
type CLFOdometryMessage struct { CLFMessage X float64 Y float64 Theta float64 TranslationalVelocity float64 RotationalVelocity float64 Acceleration float64 }
CLFOdometryMessage represents odometry data.
type CLFOldLaserMessage ¶
type CLFOldLaserMessage struct { CLFMessage RangeReadings []float64 X float64 Y float64 Theta float64 OdomX float64 OdomY float64 OdomTheta float64 }
CLFOldLaserMessage represents legacy lidar scan data.
type CLFParamMessage ¶
type CLFParamMessage struct { CLFMessage Name, Value string }
CLFParamMessage conveys parameters being set for the whole CLF.
type CLFReader ¶
type CLFReader struct {
// contains filtered or unexported fields
}
A CLFReader can read in CARMEN Logfiles.
func NewCLFReader ¶
NewCLFReader returns a CLF reader based on the given reader.
type DistanceType ¶
type DistanceType int
DistanceType defines the type of distance used in a function.
const ( // Euclidean is DistanceType 0. Euclidean DistanceType = iota // Hamming is DistanceType 1. Hamming )
type GroupWorkDoneFunc ¶
type GroupWorkDoneFunc func()
GroupWorkDoneFunc runs when a single group's work is done; helpful for merge stages.
type GroupWorkFunc ¶
type GroupWorkFunc func(groupNum, groupSize, from, to int) (MemberWorkFunc, GroupWorkDoneFunc)
GroupWorkFunc runs to determine what work members should do, if any.
type MemberWorkFunc ¶
type MemberWorkFunc func(memberNum, workNum int)
MemberWorkFunc runs for each work item (member) of a group.
type ProxyType ¶
type ProxyType interface {
ProxyFor() interface{}
}
A ProxyType is a type that proxies behavior on behalf of some other type. This uses empty interfaces in lieu of generics existing and not wanting to duplicate much code. Ideally this never needs to be used but in cases where a concrete type must be reached and it's interface cannot be used, this is useful.
type RollingAverage ¶
type RollingAverage struct {
// contains filtered or unexported fields
}
RollingAverage computes an average in a moving window of a certain size. It is goroutine-safe but should be used for statistical purposes only due to the use of atomics and not mutexes.
func NewRollingAverage ¶
func NewRollingAverage(windowSize int) *RollingAverage
NewRollingAverage returns a rolling average computed on the given window size.
func (*RollingAverage) Add ¶
func (ra *RollingAverage) Add(x int)
Add adds the given value to the samples.
func (*RollingAverage) Average ¶
func (ra *RollingAverage) Average() int
Average recomputes and returns the current rolling average.
func (*RollingAverage) NumSamples ¶
func (ra *RollingAverage) NumSamples() int
NumSamples returns the number of samples currently collected.
type Vec2Fs ¶
type Vec2Fs [][]float64
Vec2Fs is a series of two dimensional vectors that are float based.
type Vec2Matrix ¶
Vec2Matrix is a wrapper around a mat.Dense intended for a series of 2D vectors.
func (*Vec2Matrix) DistanceMSETo ¶
func (v2m *Vec2Matrix) DistanceMSETo(to *Vec2Matrix) float64
DistanceMSETo returns the mean squared error between this matrix and the given matrix. This is helpful for calculating how "far off" two matrices are.
func (*Vec2Matrix) RotateMatrixAbout ¶
func (v2m *Vec2Matrix) RotateMatrixAbout(x, y, theta float64) *Vec2Matrix
RotateMatrixAbout rotates every vector by the given theta about a given point.
type WalkCallback ¶
WalkCallback is to be called for each point visited by Walk.