framesystem

package
v0.2.34 Latest Latest
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Published: Apr 13, 2023 License: AGPL-3.0 Imports: 14 Imported by: 1

Documentation

Overview

Package framesystem defines and implements the concept of a frame system.

Index

Constants

View Source
const LocalFrameSystemName = "robot"

LocalFrameSystemName is the default name of the frame system created by the service.

View Source
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

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.

func New

func New(ctx context.Context, r robot.Robot, logger golog.Logger) Service

New returns a new frame system service for the given robot.

Directories

Path Synopsis
Package framesystemparts provides functionality around a list of framesystem parts
Package framesystemparts provides functionality around a list of framesystem parts

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