Documentation ¶
Overview ¶
Package slam implements simultaneous localization and mapping. This is an Experimental package.
Index ¶
- Constants
- Variables
- func HelperConcatenateChunksToFull(f func() ([]byte, error)) ([]byte, error)
- func InternalStateFull(ctx context.Context, slamSvc Service) ([]byte, error)
- func Limits(ctx context.Context, svc Service) ([]referenceframe.Limit, error)
- func Named(name string) resource.Name
- func NewRPCServiceServer(coll resource.APIResourceCollection[Service]) interface{}
- func PointCloudMapFull(ctx context.Context, slamSvc Service) ([]byte, error)
- type Service
Constants ¶
View Source
const SubtypeName = "slam"
SubtypeName is the name of the type of service.
Variables ¶
View Source
var API = resource.APINamespaceRDK.WithServiceType(SubtypeName)
API is a variable that identifies the slam resource API.
Functions ¶
func HelperConcatenateChunksToFull ¶ added in v0.2.35
HelperConcatenateChunksToFull concatenates the chunks from a streamed grpc endpoint.
func InternalStateFull ¶ added in v0.8.0
InternalStateFull concatenates the streaming responses from InternalState into the internal serialized state of the slam algorithm.
func Limits ¶ added in v0.8.0
Limits returns the bounds of the slam map as a list of referenceframe.Limits.
func NewRPCServiceServer ¶ added in v0.2.36
func NewRPCServiceServer(coll resource.APIResourceCollection[Service]) interface{}
NewRPCServiceServer constructs a the slam gRPC service server. It is intentionally untyped to prevent use outside of tests.
Types ¶
type Service ¶
type Service interface { resource.Resource Position(ctx context.Context) (spatialmath.Pose, string, error) PointCloudMap(ctx context.Context) (func() ([]byte, error), error) InternalState(ctx context.Context) (func() ([]byte, error), error) LatestMapInfo(ctx context.Context) (time.Time, error) }
Service describes the functions that are available to the service.
Directories ¶
Path | Synopsis |
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Package fake implements a fake slam service
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Package fake implements a fake slam service |
Package grpchelper implements helper functions to be used with slam service grpc clients
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Package grpchelper implements helper functions to be used with slam service grpc clients |
internal
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Package register registers all relevant slam models and also API specific functions
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Package register registers all relevant slam models and also API specific functions |
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