builtin

Documentation

Overview

Package builtin implements a motion service.

Index

• Constants
• 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
  • func (c *Config) Validate(path string) ([]string, error)

Constants

const (
	DoPlan    = "plan"
	DoExecute = "execute"
)

export keys to be used with DoCommand so they can be referenced by clients.

Functions

func CreateMoveOnGlobeTestEnvironment

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

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.

func NewBuiltIn

func NewBuiltIn(
	ctx context.Context, deps resource.Dependencies, conf resource.Config, logger logging.Logger,
) (motion.Service, error)

NewBuiltIn returns a new move and grab service for the given robot.

Types

type Config

type Config struct {
	LogFilePath string `json:"log_file_path"`
}

Config describes how to configure the service; currently only used for specifying dependency on framesystem service.

func (*Config) Validate

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

Validate here adds a dependency on the internal framesystem service.