Documentation
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Overview ¶
Package slam implements simultaneous localization and mapping. This is an Experimental package.
Index ¶
- Constants
- Variables
- func HelperConcatenateChunksToFull(f func() ([]byte, error)) ([]byte, error)
- func InternalStateCallback(ctx context.Context, name string, slamClient pb.SLAMServiceClient) (func() ([]byte, error), error)
- func InternalStateFull(ctx context.Context, slamSvc Service) ([]byte, error)
- func Limits(ctx context.Context, svc Service, useEditedMap bool) ([]referenceframe.Limit, error)
- func Named(name string) resource.Name
- func NewRPCServiceServer(coll resource.APIResourceCollection[Service]) interface{}
- func PointCloudMapCallback(ctx context.Context, name string, slamClient pb.SLAMServiceClient, ...) (func() ([]byte, error), error)
- func PointCloudMapFull(ctx context.Context, slamSvc Service, returnEditedMap bool) ([]byte, error)
- type MappingMode
- type Properties
- type SensorInfo
- type SensorType
- type Service
Constants ¶
const ( SubtypeName = "slam" MappingModeNewMap = MappingMode(iota) MappingModeLocalizationOnly MappingModeUpdateExistingMap )
SubtypeName is the name of the type of service.
const ( SensorTypeCamera = SensorType(iota) SensorTypeMovementSensor )
SensorTypeCamera is a camera sensor.
Variables ¶
var API = resource.APINamespaceRDK.WithServiceType(SubtypeName)
API is a variable that identifies the slam resource API.
Functions ¶
func HelperConcatenateChunksToFull ¶ added in v0.2.35
HelperConcatenateChunksToFull concatenates the chunks from a streamed grpc endpoint.
func InternalStateCallback ¶ added in v0.24.0
func InternalStateCallback(ctx context.Context, name string, slamClient pb.SLAMServiceClient) (func() ([]byte, error), error)
InternalStateCallback helps a client request the internal state stream from a SLAM server, returning a callback function for accessing the stream data.
func InternalStateFull ¶ added in v0.8.0
InternalStateFull concatenates the streaming responses from InternalState into the internal serialized state of the slam algorithm.
func Limits ¶ added in v0.8.0
Limits returns the bounds of the slam map as a list of referenceframe.Limits.
func NewRPCServiceServer ¶ added in v0.2.36
func NewRPCServiceServer(coll resource.APIResourceCollection[Service]) interface{}
NewRPCServiceServer constructs a the slam gRPC service server. It is intentionally untyped to prevent use outside of tests.
func PointCloudMapCallback ¶ added in v0.24.0
func PointCloudMapCallback(ctx context.Context, name string, slamClient pb.SLAMServiceClient, returnEditedMap bool) ( func() ([]byte, error), error, )
PointCloudMapCallback helps a client request the point cloud stream from a SLAM server, returning a callback function for accessing the stream data.
Types ¶
type MappingMode ¶ added in v0.18.0
type MappingMode uint8
MappingMode describes what mapping mode the slam service is in, including creating a new map, localizing on an existing map or updating an existing map.
type Properties ¶ added in v0.18.0
type Properties struct { CloudSlam bool MappingMode MappingMode InternalStateFileType string SensorInfo []SensorInfo }
Properties returns various information regarding the current slam service, including whether the slam process is running in the cloud and its mapping mode.
type SensorInfo ¶ added in v0.24.0
type SensorInfo struct { Name string Type SensorType }
SensorInfo holds information about the sensor name and sensor type.
type SensorType ¶ added in v0.24.0
type SensorType uint8
SensorType describes what sensor type the sensor is, including camera or movement sensor.
type Service ¶
type Service interface { resource.Resource Position(ctx context.Context) (spatialmath.Pose, error) PointCloudMap(ctx context.Context, returnEditedMap bool) (func() ([]byte, error), error) InternalState(ctx context.Context) (func() ([]byte, error), error) Properties(ctx context.Context) (Properties, error) }
Service describes the functions that are available to the service.
The Go SDK implements helper functions that concatenate streaming responses. Some of the following examples use correstponding helper methods instead of interface methods.
Position example:
// Get the current position of the specified source component // in the SLAM map as a Pose. pos, name, err := mySLAMService.Position(context.Background())
PointCloudMap example (using PointCloudMapFull helper method):
// Get the point cloud map in standard PCD format. pcdMapBytes, err := PointCloudMapFull( context.Background(), mySLAMService, true)
InternalState example (using InternalStateFull helper method):
// Get the internal state of the SLAM algorithm required // to continue mapping/localization. internalStateBytes, err := InternalStateFull( context.Background(), mySLAMService)
Properties example:
// Get the properties of your current SLAM session properties, err := mySLAMService.Properties(context.Background())
func FromDependencies ¶ added in v0.18.0
func FromDependencies(deps resource.Dependencies, name string) (Service, error)
FromDependencies is a helper for getting the named SLAM service from a collection of dependencies.
Directories
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Path | Synopsis |
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Package fake implements a fake slam service
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Package fake implements a fake slam service |
internal
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testhelper
Package testhelper implements a slam service definition with additional exported functions for the purpose of testing
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Package testhelper implements a slam service definition with additional exported functions for the purpose of testing |
Package register registers all relevant slam models and also API specific functions
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Package register registers all relevant slam models and also API specific functions |