Documentation ¶
Overview ¶
Package builtin implements a motion service.
Index ¶
- func CreateMoveOnGlobeTestEnvironment(ctx context.Context, t *testing.T, origin *geo.Point, geometrySize float64, ...) (motion.Localizer, motion.Service, func(context.Context) error)
- func CreateMoveOnMapTestEnvironment(ctx context.Context, t *testing.T, pcdPath string, geomSize float64, ...) (motion.Localizer, motion.Service, func(context.Context) error)
- func NewBuiltIn(ctx context.Context, deps resource.Dependencies, conf resource.Config, ...) (motion.Service, error)
- type Config
Constants ¶
This section is empty.
Variables ¶
This section is empty.
Functions ¶
func CreateMoveOnGlobeTestEnvironment ¶ added in v0.31.0
func CreateMoveOnGlobeTestEnvironment(ctx context.Context, t *testing.T, origin *geo.Point, geometrySize float64, noise spatialmath.Pose) ( motion.Localizer, motion.Service, func(context.Context) error, )
CreateMoveOnGlobeTestEnvironment creates a testable environment that will simulate a real moving base for MoveOnGlobe calls.
func CreateMoveOnMapTestEnvironment ¶ added in v0.31.0
func CreateMoveOnMapTestEnvironment( ctx context.Context, t *testing.T, pcdPath string, geomSize float64, origin spatialmath.Pose, ) (motion.Localizer, motion.Service, func(context.Context) error)
CreateMoveOnMapTestEnvironment creates a testable environment that will simulate a real moving base for MoveOnMap calls.
Types ¶
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