framesystem

Documentation

Overview

Package framesystem defines and implements the concept of a frame system.

Index

• Constants
• Variables
• func NewFrameSystemFromParts(name, prefix string, parts framesystemparts.Parts, logger golog.Logger) (referenceframe.FrameSystem, error)
• type Service
  • func FromRobot(r robot.Robot) (Service, error)
  • func New(ctx context.Context, r robot.Robot, logger golog.Logger) Service

Constants

const LocalFrameSystemName = "robot"

LocalFrameSystemName is the default name of the frame system created by the service.

const SubtypeName = "frame_system"

SubtypeName is a constant that identifies the internal frame system resource subtype string.

Variables

var API = resource.APINamespaceRDKInternal.WithServiceType(SubtypeName)

API is the fully qualified API for the internal frame system service.

var InternalServiceName = resource.NewName(API, "builtin")

InternalServiceName is used to refer to/depend on this service internally.

Functions

func NewFrameSystemFromParts

func NewFrameSystemFromParts(
	name, prefix string, parts framesystemparts.Parts,
	logger golog.Logger,
) (referenceframe.FrameSystem, error)

NewFrameSystemFromParts assembles a frame system from a collection of parts, usually acquired by calling Config on a frame system service.

Types

type Service

type Service interface {
	resource.Resource
	Config(ctx context.Context, additionalTransforms []*referenceframe.LinkInFrame) (framesystemparts.Parts, error)
	TransformPose(
		ctx context.Context, pose *referenceframe.PoseInFrame, dst string,
		additionalTransforms []*referenceframe.LinkInFrame,
	) (*referenceframe.PoseInFrame, error)
	TransformPointCloud(ctx context.Context, srcpc pointcloud.PointCloud, srcName, dstName string) (pointcloud.PointCloud, error)
	AllCurrentInputs(ctx context.Context) (map[string][]referenceframe.Input, map[string]referenceframe.InputEnabled, error)
	FrameSystem(ctx context.Context, additionalTransforms []*referenceframe.LinkInFrame) (referenceframe.FrameSystem, error)
}

A Service that returns the frame system for a robot.

func FromRobot

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

FromRobot is a helper for getting the framesystem service from the given Robot.

func New

func New(ctx context.Context, r robot.Robot, logger golog.Logger) Service

New returns a new frame system service for the given robot.