Documentation
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Overview ¶
Package builtin implements a motion service.
Index ¶
- Constants
- func CreateMoveOnGlobeTestEnvironment(ctx context.Context, t *testing.T, origin *geo.Point, geometrySize float64, ...) (motion.Localizer, motion.Service, func(context.Context) error)
- func CreateMoveOnMapTestEnvironment(ctx context.Context, t *testing.T, pcdPath string, geomSize float64, ...) (motion.Localizer, motion.Service, func(context.Context) error)
- func NewBuiltIn(ctx context.Context, deps resource.Dependencies, conf resource.Config, ...) (motion.Service, error)
- type Config
Constants ¶
View Source
const (
DoPlan = "plan"
DoExecute = "execute"
)
export keys to be used with DoCommand so they can be referenced by clients.
Variables ¶
This section is empty.
Functions ¶
func CreateMoveOnGlobeTestEnvironment ¶ added in v0.31.0
func CreateMoveOnGlobeTestEnvironment(ctx context.Context, t *testing.T, origin *geo.Point, geometrySize float64, noise spatialmath.Pose) (
motion.Localizer, motion.Service, func(context.Context) error,
)
CreateMoveOnGlobeTestEnvironment creates a testable environment that will simulate a real moving base for MoveOnGlobe calls.
func CreateMoveOnMapTestEnvironment ¶ added in v0.31.0
func CreateMoveOnMapTestEnvironment(
ctx context.Context,
t *testing.T,
pcdPath string,
geomSize float64,
origin spatialmath.Pose,
) (motion.Localizer, motion.Service, func(context.Context) error)
CreateMoveOnMapTestEnvironment creates a testable environment that will simulate a real moving base for MoveOnMap calls.
func NewBuiltIn ¶
func NewBuiltIn(
ctx context.Context, deps resource.Dependencies, conf resource.Config, logger logging.Logger,
) (motion.Service, error)
NewBuiltIn returns a new move and grab service for the given robot.
Types ¶
Source Files
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