posetracker

Documentation

Overview

Package posetracker contains the interface and gRPC infrastructure for a pose tracker component.

Index

• Constants
• Variables
• func Named(name string) resource.Name
• func NewRPCServiceServer(coll resource.APIResourceCollection[PoseTracker]) interface{}
• func Readings(ctx context.Context, poseTracker PoseTracker) (map[string]interface{}, error)
• type BodyToPoseInFrame
• type PoseTracker
  • func FromRobot(r robot.Robot, name string) (PoseTracker, error)
  • func NewClientFromConn(ctx context.Context, conn rpc.ClientConn, remoteName string, ...) (PoseTracker, error)

Constants

const SubtypeName = "pose_tracker"

SubtypeName is a constant that identifies the component resource API string "posetracker".

Variables

var API = resource.APINamespaceRDK.WithComponentType(SubtypeName)

API is a variable that identifies the component resource API.

Functions

func Named

func Named(name string) resource.Name

Named is a helper for getting the named PoseTracker's typed resource name.

func NewRPCServiceServer

func NewRPCServiceServer(coll resource.APIResourceCollection[PoseTracker]) interface{}

NewRPCServiceServer constructs a pose tracker gRPC service server. It is intentionally untyped to prevent use outside of tests.

func Readings

func Readings(ctx context.Context, poseTracker PoseTracker) (map[string]interface{}, error)

Readings is a helper for getting all readings from a PoseTracker.

Types

type BodyToPoseInFrame

type BodyToPoseInFrame map[string]*referenceframe.PoseInFrame

BodyToPoseInFrame represents a map of body names to PoseInFrames.

type PoseTracker

type PoseTracker interface {
	sensor.Sensor
	Poses(ctx context.Context, bodyNames []string, extra map[string]interface{}) (BodyToPoseInFrame, error)
}

A PoseTracker represents a robot component that can observe bodies in an environment and provide their respective poses in space. These poses are given in the context of the PoseTracker's frame of reference.

func FromRobot

func FromRobot(r robot.Robot, name string) (PoseTracker, error)

FromRobot is a helper for getting the named force matrix sensor from the given Robot.

func NewClientFromConn

func NewClientFromConn(
	ctx context.Context,
	conn rpc.ClientConn,
	remoteName string,
	name resource.Name,
	logger logging.Logger,
) (PoseTracker, error)

NewClientFromConn constructs a new Client from connection passed in.