kinematicbase

Documentation

Overview

Package kinematicbase contains wrappers that augment bases with information needed for higher level control over the base

Package kinematicbase contains wrappers that augment bases with information needed for higher level control over the base

Package kinematicbase contains wrappers that augment bases with information needed for higher level control over the base

Index

• Variables
• func CollisionGeometry(cfg *referenceframe.LinkConfig) ([]spatialmath.Geometry, error)
• type KinematicBase
  • func WrapWithFakeKinematics(ctx context.Context, b *fake.Base, localizer motion.Localizer, ...) (KinematicBase, error)
  • func WrapWithKinematics(ctx context.Context, b base.Base, logger golog.Logger, ...) (KinematicBase, error)

Variables

var ErrMovementTimeout = errors.New("movement has timed out")

ErrMovementTimeout is used for when a movement call times out after no movement for some time.

Functions

func CollisionGeometry

func CollisionGeometry(cfg *referenceframe.LinkConfig) ([]spatialmath.Geometry, error)

CollisionGeometry returns a spherical geometry that will encompass the base if it were to rotate the geometry specified in the config 360 degrees about the Z axis of the reference frame specified in the config.

Types

type KinematicBase

type KinematicBase interface {
	base.Base
	referenceframe.InputEnabled

	Kinematics() referenceframe.Frame
}

KinematicBase is an interface for Bases that also satisfy the ModelFramer and InputEnabled interfaces.

func WrapWithFakeKinematics

func WrapWithFakeKinematics(
	ctx context.Context,
	b *fake.Base,
	localizer motion.Localizer,
	limits []referenceframe.Limit,
) (KinematicBase, error)

WrapWithFakeKinematics creates a KinematicBase from the fake Base so that it satisfies the ModelFramer and InputEnabled interfaces.

func WrapWithKinematics

func WrapWithKinematics(
	ctx context.Context,
	b base.Base,
	logger golog.Logger,
	localizer motion.Localizer,
	limits []referenceframe.Limit,
	maxLinearVelocityMillisPerSec float64,
	maxAngularVelocityDegsPerSec float64,
) (KinematicBase, error)

WrapWithKinematics will wrap a Base with the appropriate type of kinematics, allowing it to provide a Frame which can be planned with and making it InputEnabled.