Documentation ¶
Overview ¶
Package framesystem defines and implements the concept of a frame system.
Index ¶
- Constants
- func NewFrameSystemFromParts(name, prefix string, parts framesystemparts.Parts, logger golog.Logger) (referenceframe.FrameSystem, error)
- func RobotFrameSystem(ctx context.Context, r robot.Robot, ...) (referenceframe.FrameSystem, error)
- func RobotFsCurrentInputs(ctx context.Context, r robot.Robot, fs referenceframe.FrameSystem) (map[string][]referenceframe.Input, map[string]referenceframe.InputEnabled, ...)
- type Service
Constants ¶
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const LocalFrameSystemName = "robot"
LocalFrameSystemName is the default name of the frame system created by the service.
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const SubtypeName = resource.SubtypeName("frame_system")
SubtypeName is the name of the type of service.
Variables ¶
This section is empty.
Functions ¶
func NewFrameSystemFromParts ¶
func NewFrameSystemFromParts( name, prefix string, parts framesystemparts.Parts, logger golog.Logger, ) (referenceframe.FrameSystem, error)
NewFrameSystemFromParts assembles a frame system from a collection of parts, usually acquired by calling Config on a frame system service.
func RobotFrameSystem ¶
func RobotFrameSystem( ctx context.Context, r robot.Robot, additionalTransforms []*referenceframe.LinkInFrame, ) (referenceframe.FrameSystem, error)
RobotFrameSystem returns the frame system of the robot.
func RobotFsCurrentInputs ¶ added in v0.0.8
func RobotFsCurrentInputs( ctx context.Context, r robot.Robot, fs referenceframe.FrameSystem, ) (map[string][]referenceframe.Input, map[string]referenceframe.InputEnabled, error)
RobotFsCurrentInputs will get present inputs for a framesystem from a robot and return a map of those inputs, as well as a map of the InputEnabled resources that those inputs came from.
Types ¶
type Service ¶
type Service interface { Config(ctx context.Context, additionalTransforms []*referenceframe.LinkInFrame) (framesystemparts.Parts, error) TransformPose( ctx context.Context, pose *referenceframe.PoseInFrame, dst string, additionalTransforms []*referenceframe.LinkInFrame, ) (*referenceframe.PoseInFrame, error) TransformPointCloud(ctx context.Context, srcpc pointcloud.PointCloud, srcName, dstName string) (pointcloud.PointCloud, error) }
A Service that returns the frame system for a robot.
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