viam.services.slam
Submodules
Package Contents
Classes
Pose is a combination of location and orientation. |
|
SLAM represents a SLAM service. |
- class viam.services.slam.Pose(*, x: float = ..., y: float = ..., z: float = ..., o_x: float = ..., o_y: float = ..., o_z: float = ..., theta: float = ...)
Bases:
google.protobuf.message.Message
Pose is a combination of location and orientation. Location is expressed as distance which is represented by x , y, z coordinates. Orientation is expressed as an orientation vector which is represented by o_x, o_y, o_z and theta. The o_x, o_y, o_z coordinates represent the point on the cartesian unit sphere that the end of the arm is pointing to (with the origin as reference). That unit vector forms an axis around which theta rotates. This means that incrementing / decrementing theta will perform an inline rotation of the end effector. Theta is defined as rotation between two planes: the first being defined by the origin, the point (0,0,1), and the rx, ry, rz point, and the second being defined by the origin, the rx, ry, rz point and the local Z axis. Therefore, if theta is kept at zero as the north/south pole is circled, the Roll will correct itself to remain in-line.
- x: float
millimeters from the origin
- y: float
millimeters from the origin
- z: float
millimeters from the origin
- o_x: float
z component of a vector defining axis of rotation
- o_y: float
x component of a vector defining axis of rotation
- o_z: float
y component of a vector defining axis of rotation
- theta: float
degrees
- class viam.services.slam.SLAM(name: str)[source]
Bases:
viam.services.service_base.ServiceBase
SLAM represents a SLAM service.
This acts as an abstract base class for any drivers representing specific arm implementations. This cannot be used on its own. If the
__init__()
function is overridden, it must call thesuper().__init__()
function.- SUBTYPE: Final
- abstract async get_internal_state(*, timeout: Optional[float]) List[bytes] [source]
Get the internal state of the SLAM algorithm required to continue mapping/localization.
- Returns:
Chunks of the internal state of the SLAM algorithm
- Return type:
List[GetInternalStateResponse]
- abstract async get_point_cloud_map(*, timeout: Optional[float]) List[bytes] [source]
Get the point cloud map.
- Returns:
- Complete pointcloud in standard PCD format. Chunks of the PointCloud, concatenating all
GetPointCloudMapResponse.point_cloud_pcd_chunk values
- Return type:
List[GetPointCloudMapResponse]
- abstract async get_latest_map_info(*, timeout: Optional[float]) datetime.datetime [source]
Get the timestamp of the last update to the point cloud SLAM map.
- Returns:
The timestamp of the last update.
- Return type:
datetime
- abstract async get_position(*, timeout: Optional[float]) viam.services.slam.Pose [source]
Get current position of the specified component in the SLAM Map.
- Returns:
The current position of the specified component
- Return type:
- classmethod from_robot(robot: viam.robot.client.RobotClient, name: str) typing_extensions.Self
Get the service named
name
from the provided robot.- Parameters:
robot (RobotClient) – The robot
name (str) – The name of the service
- Returns:
The service, if it exists on the robot
- Return type:
Self
- abstract async do_command(command: Mapping[str, viam.utils.ValueTypes], *, timeout: Optional[float] = None, **kwargs) Mapping[str, viam.utils.ValueTypes]
Send/Receive arbitrary commands to the Resource
- Parameters:
command (Mapping[str, ValueTypes]) – The command to execute
- Raises:
NotImplementedError – Raised if the Resource does not support arbitrary commands
- Returns:
Result of the executed command
- Return type:
Mapping[str, ValueTypes]
- classmethod get_resource_name(name: str) viam.proto.common.ResourceName
Get the ResourceName for this Resource with the given name
- Parameters:
name (str) – The name of the Resource
- get_operation(kwargs: Mapping[str, Any]) viam.operations.Operation
Get the
Operation
associated with the currently running function.When writing custom resources, you should get the
Operation
by calling this function and check to see if it’s cancelled. If theOperation
is cancelled, then you can perform any necessary (terminating long running tasks, cleaning up connections, etc. ).- Parameters:
kwargs (Mapping[str, Any]) – The kwargs object containing the operation
- Returns:
The operation associated with this function
- Return type: