fake

Documentation

Overview

Package fake implements a fake slam service

Index

• type SLAM
  • func NewSLAM(name resource.Name, logger golog.Logger) *SLAM
  • func (slamSvc *SLAM) GetInternalState(ctx context.Context) (func() ([]byte, error), error)
  • func (slamSvc *SLAM) GetLatestMapInfo(ctx context.Context) (time.Time, error)
  • func (slamSvc *SLAM) GetLimits(ctx context.Context) ([]referenceframe.Limit, error)
  • func (slamSvc *SLAM) GetPointCloudMap(ctx context.Context) (func() ([]byte, error), error)
  • func (slamSvc *SLAM) GetPosition(ctx context.Context) (spatialmath.Pose, string, error)

Types

type SLAM

type SLAM struct {
	resource.Named
	resource.TriviallyReconfigurable
	resource.TriviallyCloseable
	// contains filtered or unexported fields
}

SLAM is a fake slam that returns generic data.

func NewSLAM

func NewSLAM(name resource.Name, logger golog.Logger) *SLAM

NewSLAM is a constructor for a fake slam service.

func (*SLAM) GetInternalState

func (slamSvc *SLAM) GetInternalState(ctx context.Context) (func() ([]byte, error), error)

GetInternalState returns a callback function which will return the next chunk of the current internal state of the slam algo.

func (*SLAM) GetLatestMapInfo

func (slamSvc *SLAM) GetLatestMapInfo(ctx context.Context) (time.Time, error)

GetLatestMapInfo returns information used to determine whether the slam mode is localizing. Fake Slam is always in mapping mode, so it always returns a new timestamp.

func (*SLAM) GetLimits

func (slamSvc *SLAM) GetLimits(ctx context.Context) ([]referenceframe.Limit, error)

GetLimits returns the bounds of the slam map as a list of referenceframe.Limits.

func (*SLAM) GetPointCloudMap

func (slamSvc *SLAM) GetPointCloudMap(ctx context.Context) (func() ([]byte, error), error)

GetPointCloudMap returns a callback function which will return the next chunk of the current pointcloud map.

func (*SLAM) GetPosition

func (slamSvc *SLAM) GetPosition(ctx context.Context) (spatialmath.Pose, string, error)

GetPosition returns a Pose and a component reference string of the robot's current location according to SLAM.