Documentation ¶
Overview ¶
Package posetracker contains the interface and gRPC infrastructure for a pose tracker component
Index ¶
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 NewRPCServiceServer ¶ added in v0.2.36
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.
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 golog.Logger, ) (PoseTracker, error)
NewClientFromConn constructs a new Client from connection passed in.