wheeled

Documentation

Overview

Package wheeled implements some bases, like a wheeled base.

Index

• Variables
• func CreateWheeledBase(ctx context.Context, deps resource.Dependencies, conf resource.Config, ...) (base.LocalBase, error)
• func MakeModelFrame(name string, collisionGeometry spatialmath.Geometry, ...) (referenceframe.Model, error)
• type Config
  • func (cfg *Config) Validate(path string) ([]string, error)

Variables

var Model = resource.DefaultModelFamily.WithModel("wheeled")

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

Functions

func CreateWheeledBase

func CreateWheeledBase(
	ctx context.Context,
	deps resource.Dependencies,
	conf resource.Config,
	logger golog.Logger,
) (base.LocalBase, error)

CreateWheeledBase returns a new wheeled base defined by the given config.

func MakeModelFrame

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

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

Types

type Config

type Config 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"`
}

Config is how you configure a wheeled base.

func (*Config) Validate

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

Validate ensures all parts of the config are valid.