referenceframe

Nov 4, 2024

Changes in this version

+ func JointPositionsFromInputs(f Frame, inputs []Input) (*pb.JointPositions, error)

+ func NewIncorrectDoFError(actual, expected int) error

type Input

+ func InputsFromJointPositions(f Frame, jp *pb.JointPositions) ([]Input, error)

Sep 3, 2024

Changes in this version

type Model

+ ModelPieceFrames func([]Input) (map[string]Frame, error)

type SimpleModel

+ func (m *SimpleModel) ModelPieceFrames(inputs []Input) (map[string]Frame, error)

Aug 13, 2024

Changes in this version

type Frame

+ func NewPoseFrame(name string, geometry []spatial.Geometry) (Frame, error)

type Input

+ func PoseToInputs(p spatial.Pose) []Input

Jul 22, 2024

Changes in this version

+ func ComputeOOBPosition(frame Frame, inputs []Input) (spatialmath.Pose, error)

+ func ComputePosition(frame Frame, inputs []Input) (spatialmath.Pose, error)

Jun 24, 2024

Changes in this version

+ var ErrNeedOneEndEffector = errors.New("need exactly one end effector")

May 9, 2024

Changes in this version

type PoseInFrame

+ func (pF *PoseInFrame) String() string

Apr 12, 2024

Changes in this version

type Frame

+ Interpolate func([]Input, []Input, float64) ([]Input, error)

type SimpleModel

+ func (m *SimpleModel) Interpolate(from, to []Input, by float64) ([]Input, error)

Jan 4, 2024

Changes in this version

+ type Limited interface

+ DoF func() []Limit

Nov 28, 2023

Changes in this version

type ModelConfig

+ OriginalFile *ModelFile

+ type ModelFile struct

+ Bytes []byte

+ Extension string

Oct 2, 2023

Changes in this version

type FrameSystem

+ ReplaceFrame func(replacementFrame Frame) error

Aug 4, 2023

Changes in this version

+ var ErrAtLeastOneEndEffector = errors.New("need at least one end effector")

+ var ErrNilJointPositions = errors.New(...)

+ var ErrNilModelFrame = errors.New(...)

+ func NewFrameNotInListOfTransformsError(frameName string) error

+ func NewParentFrameNotInMapOfParentsError(parentFrameName string) error

+ func NewReservedWordError(configType, reservedWord string) error

Jul 6, 2023

Changes in this version

type Frame

+ func NewPTGFrameFromTurningRadius(name string, velocityMMps, turnRadMeters, simDist float64, ...) (Frame, error)

Jun 9, 2023

Changes in this version

type Frame

+ func NewNamedFrame(frame Frame, name string) Frame

type Model

+ func New2DMobileModelFrame(name string, limits []Limit, collisionGeometry spatialmath.Geometry) (Model, error)

type WorldState

+ func (ws *WorldState) String() string

May 11, 2023

Changes in this version

+ var ErrNoWorldConnection = errors.New(...)

+ func NewParentFrameNilError(frameName string) error

type FrameSystem

+ func NewEmptyFrameSystem(name string) FrameSystem

+ func NewFrameSystem(name string, parts []*FrameSystemPart, additionalTransforms []*LinkInFrame) (FrameSystem, error)

type FrameSystemPart

+ func TopologicallySortParts(parts []*FrameSystemPart) ([]*FrameSystemPart, error)

Apr 29, 2023

Changes in this version

+ func NewDuplicateGeometryNameError(name string) error

type WorldState

+ func NewEmptyWorldState() *WorldState

+ func NewWorldState(obstacles []*GeometriesInFrame, transforms []*LinkInFrame) (*WorldState, error)

+ func (ws *WorldState) ObstacleNames() map[string]bool

+ func (ws *WorldState) ToProtobuf() (*commonpb.WorldState, error)

Apr 13, 2023

Changes in this version

+ func InputsL2Distance(from, to []Input) float64

Mar 30, 2023

Changes in this version

type WorldState

+ func (ws *WorldState) ObstaclesInWorldFrame(fs FrameSystem, inputs map[string][]Input) (*GeometriesInFrame, error)

Mar 9, 2023

Changes in this version

type GeometriesInFrame

+ func (gF *GeometriesInFrame) GeometryByName(name string) spatialmath.Geometry

Feb 16, 2023

Changes in this version

type Model

+ func ModelFromPath(modelPath, name string) (Model, error)

Feb 3, 2023

Changes in this version

+ func FrameSystemGeometries(system FrameSystem, inputs map[string][]Input, logger golog.Logger) (map[string]*GeometriesInFrame, error)

+ func FrameSystemToPCD(system FrameSystem, inputs map[string][]Input, logger golog.Logger) (map[string][]r3.Vector, error)

Dec 15, 2022

Changes in this version

+ var ErrMarshalingHighDOFFrame = errors.New("cannot marshal frame with >1 DOF, use a Model instead")

+ var ErrNilPose = errors.New("pose was nil")

+ var ErrNilPoseInFrame = errors.New("pose in frame was nil")

+ func CreateFramesFromPart(part *FrameSystemPart, logger golog.Logger) (Frame, Frame, error)

+ func LinkInFrameToTransformProtobuf(framedLink *LinkInFrame) (*commonpb.Transform, error)

+ func LinkInFramesToTransformsProtobuf(linkSlice []*LinkInFrame) ([]*commonpb.Transform, error)

+ type DHParamConfig struct

+ A float64

+ Alpha float64

+ D float64

+ Geometry *spatial.GeometryConfig

+ ID string

+ Max float64

+ Min float64

+ Parent string

+ func (cfg *DHParamConfig) ToDHFrames() (Frame, Frame, error)

+ type FrameSystemPart struct

+ FrameConfig *LinkInFrame

+ ModelFrame Model

+ func LinkInFrameToFrameSystemPart(transform *LinkInFrame) (*FrameSystemPart, error)

+ func ProtobufToFrameSystemPart(fsc *pb.FrameSystemConfig) (*FrameSystemPart, error)

+ func (part *FrameSystemPart) ToProtobuf() (*pb.FrameSystemConfig, error)

type GeometriesInFrame

+ func (gF *GeometriesInFrame) Parent() string

+ type JointConfig struct

+ Axis spatial.AxisConfig

+ Geometry *spatial.GeometryConfig

+ ID string

+ Max float64

+ Min float64

+ Parent string

+ Type string

+ func (cfg *JointConfig) ToFrame() (Frame, error)

+ type LinkConfig struct

+ Geometry *spatial.GeometryConfig

+ ID string

+ Orientation *spatial.OrientationConfig

+ Parent string

+ Translation r3.Vector

+ func NewLinkConfig(frame staticFrame) (*LinkConfig, error)

+ func (cfg *LinkConfig) ParseConfig() (*LinkInFrame, error)

+ func (cfg *LinkConfig) Pose() (spatial.Pose, error)

+ type LinkInFrame struct

+ func LinkInFrameFromTransformProtobuf(proto *commonpb.Transform) (*LinkInFrame, error)

+ func LinkInFramesFromTransformsProtobuf(protoSlice []*commonpb.Transform) ([]*LinkInFrame, error)

+ func NewLinkInFrame(frame string, pose spatialmath.Pose, name string, ...) *LinkInFrame

+ func (lF *LinkInFrame) Geometry() spatialmath.GeometryCreator

+ func (lF *LinkInFrame) ToStaticFrame(name string) (Frame, error)

type Model

+ ModelConfig func() *ModelConfig

type PoseInFrame

+ func (pF *PoseInFrame) Parent() string

+ func (pF *PoseInFrame) SetName(name string)

+ func (pF *PoseInFrame) SetParent(parent string)

type SimpleModel

+ func (m *SimpleModel) ModelConfig() *ModelConfig

type Transformable

+ Parent func() string

Dec 10, 2022

Changes in this version

+ const ContinuousJoint

+ const FixedJoint

+ const PrismaticJoint

+ const RevoluteJoint

+ var ErrCircularReference = errors.New("infinite loop finding path from end effector to world")

+ func NewUnsupportedJointTypeError(jointType string) error

+ type JSONDHParam struct

+ A float64

+ Alpha float64

+ D float64

+ Geometry spatial.GeometryConfig

+ ID string

+ Max float64

+ Min float64

+ Parent string

+ type JSONJoint struct

+ Axis spatial.AxisConfig

+ ID string

+ Max float64

+ Min float64

+ Parent string

+ Type string

+ type JSONLink struct

+ Geometry spatial.GeometryConfig

+ ID string

+ Orientation spatial.OrientationConfig

+ Parent string

+ Translation spatial.TranslationConfig

type Model

+ func ParseURDFFile(filename, modelName string) (Model, error)

type ModelConfig

+ func ConvertURDFToConfig(xmlData []byte, modelName string) (*ModelConfig, error)

+ type URDFConfig struct

+ Joints []URDFJoint

+ Links []URDFLink

+ Name string

+ XMLName xml.Name

+ type URDFJoint struct

+ Axis struct{ ... }

+ Child struct{ ... }

+ Limit struct{ ... }

+ Name string

+ Origin struct{ ... }

+ Parent struct{ ... }

+ Type string

+ XMLName xml.Name

+ type URDFLink struct

+ Collision []struct{ ... }

+ Name string

+ XMLName xml.Name

Dec 5, 2022

Changes in this version

+ var ErrEmptyStringFrameName = errors.New("frame with name \"\" cannot be used")

+ func PoseInFrameToTransformProtobuf(framedPose *PoseInFrame) (*commonpb.Transform, error)

+ func PoseInFramesToTransformProtobuf(poseSlice []*PoseInFrame) ([]*commonpb.Transform, error)

+ func WorldStateToProtobuf(worldState *WorldState) (*commonpb.WorldState, error)

type PoseInFrame

+ func NewNamedPoseInFrame(frame string, pose spatialmath.Pose, name string) *PoseInFrame

+ func PoseInFrameFromTransformProtobuf(proto *commonpb.Transform) (*PoseInFrame, error)

+ func PoseInFramesFromTransformProtobuf(protoSlice []*commonpb.Transform) ([]*PoseInFrame, error)

+ func (pF *PoseInFrame) Name() string

+ type WorldState struct

+ InteractionSpaces []*GeometriesInFrame

+ Obstacles []*GeometriesInFrame

+ Transforms []*PoseInFrame

+ func WorldStateFromProtobuf(proto *commonpb.WorldState) (*WorldState, error)

+ func (ws *WorldState) ToWorldFrame(fs FrameSystem, inputs map[string][]Input) (*WorldState, error)

Sep 20, 2022

Changes in this version

+ func NewFrameAlreadyExistsError(frameName string) error

+ func NewFrameMissingError(frameName string) error

+ func NewIncorrectInputLengthError(actual, expected int) error

type FrameSystem

+ Frame func(name string) Frame

+ FrameSystemSubset func(newRoot Frame) (FrameSystem, error)

Aug 8, 2022

Changes in this version

+ const OOBErrString

+ const World

+ var ErrNoModelInformation = errors.New("no model information")

+ func GenerateRandomConfiguration(m Model, randSeed *rand.Rand) []float64

+ func GeometriesInFrameToProtobuf(framedGeometries *GeometriesInFrame) *commonpb.GeometriesInFrame

+ func InputsToFloats(inputs []Input) []float64

+ func IsConfigurationValid(m Model, configuration []float64) bool

+ func JointPositionsFromRadians(radians []float64) *pb.JointPositions

+ func JointPositionsToRadians(jp *pb.JointPositions) []float64

+ func NewParentFrameMissingError() error

+ func PoseInFrameToProtobuf(framedPose *PoseInFrame) *commonpb.PoseInFrame

+ func StartPositions(fs FrameSystem) map[string][]Input

+ type Frame interface

+ AlmostEquals func(otherFrame Frame) bool

+ DoF func() []Limit

+ Geometries func([]Input) (*GeometriesInFrame, error)

+ InputFromProtobuf func(*pb.JointPositions) []Input

+ Name func() string

+ ProtobufFromInput func([]Input) *pb.JointPositions

+ Transform func([]Input) (spatial.Pose, error)

+ func FrameFromPoint(name string, point r3.Vector) (Frame, error)

+ func NewMobile2DFrame(name string, limit []Limit, geometryCreator spatial.GeometryCreator) (Frame, error)

+ func NewRotationalFrame(name string, axis spatial.R4AA, limit Limit) (Frame, error)

+ func NewStaticFrame(name string, pose spatial.Pose) (Frame, error)

+ func NewStaticFrameFromFrame(frame Frame, pose spatial.Pose) (Frame, error)

+ func NewStaticFrameWithGeometry(name string, pose spatial.Pose, geometryCreator spatial.GeometryCreator) (Frame, error)

+ func NewTranslationalFrame(name string, axis r3.Vector, limit Limit) (Frame, error)

+ func NewTranslationalFrameWithGeometry(name string, axis r3.Vector, limit Limit, ...) (Frame, error)

+ func NewZeroStaticFrame(name string) Frame

+ func UnmarshalFrameJSON(data []byte) (Frame, error)

+ type FrameMapConfig map[string]interface

+ func (config FrameMapConfig) ParseConfig() (Frame, error)

+ type FrameSystem interface

+ AddFrame func(frame, parent Frame) error

+ DivideFrameSystem func(newRoot Frame) (FrameSystem, error)

+ FrameNames func() []string

+ GetFrame func(name string) Frame

+ MergeFrameSystem func(systemToMerge FrameSystem, attachTo Frame) error

+ Name func() string

+ Parent func(frame Frame) (Frame, error)

+ RemoveFrame func(frame Frame)

+ TracebackFrame func(frame Frame) ([]Frame, error)

+ Transform func(positions map[string][]Input, object Transformable, dst string) (Transformable, error)

+ World func() Frame

+ func NewEmptySimpleFrameSystem(name string) FrameSystem

+ type GeometriesInFrame struct

+ func NewGeometriesInFrame(frame string, geometries map[string]spatialmath.Geometry) *GeometriesInFrame

+ func ProtobufToGeometriesInFrame(proto *commonpb.GeometriesInFrame) (*GeometriesInFrame, error)

+ func (gF *GeometriesInFrame) FrameName() string

+ func (gF *GeometriesInFrame) Geometries() map[string]spatialmath.Geometry

+ func (gF *GeometriesInFrame) Transform(tf *PoseInFrame) Transformable

+ type Input struct

+ Value float64

+ func FloatsToInputs(floats []float64) []Input

+ func GetFrameInputs(frame Frame, inputMap map[string][]Input) ([]Input, error)

+ func InterpolateInputs(from, to []Input, by float64) []Input

+ func RandomFrameInputs(m Frame, rSeed *rand.Rand) []Input

+ func RestrictedRandomFrameInputs(m Frame, rSeed *rand.Rand, lim float64) []Input

+ type InputEnabled interface

+ CurrentInputs func(ctx context.Context) ([]Input, error)

+ GoToInputs func(ctx context.Context, goal []Input) error

+ type Limit struct

+ Max float64

+ Min float64

+ type Model interface

+ ChangeName func(string)

+ func ParseModelJSONFile(filename, modelName string) (Model, error)

+ func UnmarshalModelJSON(jsonData []byte, modelName string) (Model, error)

+ type ModelConfig struct

+ DHParams []struct{ ... }

+ Joints []struct{ ... }

+ KinParamType string

+ Links []struct{ ... }

+ Name string

+ RawFrames []FrameMapConfig

+ func (config *ModelConfig) ParseConfig(modelName string) (Model, error)

+ type ModelFramer interface

+ ModelFrame func() Model

+ type PoseInFrame struct

+ func NewPoseInFrame(frame string, pose spatialmath.Pose) *PoseInFrame

+ func ProtobufToPoseInFrame(proto *commonpb.PoseInFrame) *PoseInFrame

+ func (pF *PoseInFrame) FrameName() string

+ func (pF *PoseInFrame) Pose() spatialmath.Pose

+ func (pF *PoseInFrame) Transform(tf *PoseInFrame) Transformable

+ type SimpleModel struct

+ OrdTransforms []Frame

+ func NewSimpleModel() *SimpleModel

+ func (m *SimpleModel) AlmostEquals(otherFrame Frame) bool

+ func (m *SimpleModel) CachedTransform(inputs []Input) (spatialmath.Pose, error)

+ func (m *SimpleModel) ChangeName(name string)

+ func (m *SimpleModel) DoF() []Limit

+ func (m *SimpleModel) Geometries(inputs []Input) (*GeometriesInFrame, error)

+ func (m *SimpleModel) InputFromProtobuf(jp *pb.JointPositions) []Input

+ func (m *SimpleModel) MarshalJSON() ([]byte, error)

+ func (m *SimpleModel) Name() string

+ func (m *SimpleModel) OperationalDoF() int

+ func (m *SimpleModel) ProtobufFromInput(input []Input) *pb.JointPositions

+ func (m *SimpleModel) Transform(inputs []Input) (spatialmath.Pose, error)

+ type Transformable interface

+ FrameName func() string

+ Transform func(*PoseInFrame) Transformable