fake

Documentation

Overview

Package fake implements a fake gripper.

Index

• func NewGripper(ctx context.Context, deps resource.Dependencies, conf resource.Config, ...) (gripper.Gripper, error)
• type Config
• type Gripper
  • func (g *Gripper) Geometries(ctx context.Context, extra map[string]interface{}) ([]spatialmath.Geometry, error)
  • func (g *Gripper) Grab(ctx context.Context, extra map[string]interface{}) (bool, error)
  • func (g *Gripper) IsMoving(ctx context.Context) (bool, error)
  • func (g *Gripper) ModelFrame() referenceframe.Model
  • func (g *Gripper) Open(ctx context.Context, extra map[string]interface{}) error
  • func (g *Gripper) Reconfigure(_ context.Context, _ resource.Dependencies, conf resource.Config) error
  • func (g *Gripper) Stop(ctx context.Context, extra map[string]interface{}) error

Functions

func NewGripper

func NewGripper(
	ctx context.Context, deps resource.Dependencies, conf resource.Config, logger logging.Logger,
) (gripper.Gripper, error)

NewGripper instantiates a new gripper of the fake model type.

Types

type Config

type Config struct {
	resource.TriviallyValidateConfig
}

Config is the config for a trossen gripper.

type Gripper

type Gripper struct {
	resource.Named
	resource.TriviallyCloseable
	// contains filtered or unexported fields
}

Gripper is a fake gripper that can simply read and set properties.

func (*Gripper) Geometries

func (g *Gripper) Geometries(ctx context.Context, extra map[string]interface{}) ([]spatialmath.Geometry, error)

Geometries returns the geometries associated with the fake base.

func (*Gripper) Grab

func (g *Gripper) Grab(ctx context.Context, extra map[string]interface{}) (bool, error)

Grab does nothing.

func (*Gripper) IsMoving

func (g *Gripper) IsMoving(ctx context.Context) (bool, error)

IsMoving is always false for a fake gripper.

func (*Gripper) ModelFrame

func (g *Gripper) ModelFrame() referenceframe.Model

ModelFrame returns the dynamic frame of the model.

func (*Gripper) Open

func (g *Gripper) Open(ctx context.Context, extra map[string]interface{}) error

Open does nothing.

func (*Gripper) Reconfigure

func (g *Gripper) Reconfigure(_ context.Context, _ resource.Dependencies, conf resource.Config) error

Reconfigure reconfigures the gripper atomically and in place.

func (*Gripper) Stop

func (g *Gripper) Stop(ctx context.Context, extra map[string]interface{}) error

Stop doesn't do anything for a fake gripper.