cartofacade

type Carto struct {
	SlamMode
	// contains filtered or unexported fields
}

type CartoAlgoConfig struct {
	OptimizeOnStart      bool
	OptimizeEveryNNodes  int
	NumRangeData         int
	MissingDataRayLength float32
	MaxRange             float32
	MinRange             float32
	UseIMUData           bool
	MaxSubmapsToKeep     int
	FreshSubmapsCount    int
	MinCoveredArea       float64
	MinAddedSubmapsCount int
	OccupiedSpaceWeight  float64
	TranslationWeight    float64
	RotationWeight       float64

	HasInitialTrajectoryPose   bool
	InitialTrajectoryPoseX     float64
	InitialTrajectoryPoseY     float64
	InitialTrajectoryPoseTheta float64
}

type CartoConfig struct {
	Camera             string
	MovementSensor     string
	ComponentReference string
	LidarConfig        LidarConfig

	EnableMapping bool
	ExistingMap   string
}

type CartoFacade struct {
	// contains filtered or unexported fields
}

type CartoInterface interface {
	// contains filtered or unexported methods
}

type CartoLib struct {
	// contains filtered or unexported fields
}

type CartoLibInterface interface {
	Terminate() error
}

type CartoLibMock struct {
	CartoLib
	TerminateFunc func() error
}

type CartoMock struct {
	Carto
	StartFunc                func() error
	StopFunc                 func() error
	TerminateFunc            func() error
	AddLidarReadingFunc      func(string, s.TimedLidarReadingResponse) error
	AddIMUReadingFunc        func(string, s.TimedIMUReadingResponse) error
	AddOdometerReadingFunc   func(string, s.TimedOdometerReadingResponse) error
	PositionFunc             func() (Position, error)
	PointCloudMapFunc        func() ([]byte, error)
	InternalStateFunc        func() ([]byte, error)
	RunFinalOptimizationFunc func() error
}

type Interface interface {
	Initialize(
		ctx context.Context,
		timeout time.Duration,
		activeBackgroundWorkers *sync.WaitGroup,
	) (SlamMode, error)
	Start(
		ctx context.Context,
		timeout time.Duration,
	) error
	Stop(
		ctx context.Context,
		timeout time.Duration,
	) error
	Terminate(
		ctx context.Context,
		timeout time.Duration,
	) error
	AddLidarReading(
		ctx context.Context,
		timeout time.Duration,
		lidarName string,
		currentReading s.TimedLidarReadingResponse,
	) error
	AddIMUReading(
		ctx context.Context,
		timeout time.Duration,
		movementSensorName string,
		currentReading s.TimedIMUReadingResponse,
	) error
	AddOdometerReading(
		ctx context.Context,
		timeout time.Duration,
		movementSensorName string,
		currentReading s.TimedOdometerReadingResponse,
	) error
	Position(
		ctx context.Context,
		timeout time.Duration,
	) (Position, error)
	InternalState(
		ctx context.Context,
		timeout time.Duration,
	) ([]byte, error)
	PointCloudMap(
		ctx context.Context,
		timeout time.Duration,
	) ([]byte, error)
	RunFinalOptimization(
		ctx context.Context,
		timeout time.Duration,
	) error
	// contains filtered or unexported methods
}

type LidarConfig int64

type Mock struct {
	CartoFacade

	InitializeFunc func(
		ctx context.Context,
		timeout time.Duration, activeBackgroundWorkers *sync.WaitGroup,
	) (SlamMode, error)
	StartFunc func(
		ctx context.Context,
		timeout time.Duration,
	) error
	StopFunc func(
		ctx context.Context,
		timeout time.Duration,
	) error
	TerminateFunc func(
		ctx context.Context,
		timeout time.Duration,
	) error
	AddLidarReadingFunc func(
		ctx context.Context,
		timeout time.Duration,
		lidarName string,
		currentReading s.TimedLidarReadingResponse,
	) error
	AddIMUReadingFunc func(
		ctx context.Context,
		timeout time.Duration,
		movementSensorName string,
		currentReading s.TimedIMUReadingResponse,
	) error
	AddOdometerReadingFunc func(
		ctx context.Context,
		timeout time.Duration,
		movementSensorName string,
		currentReading s.TimedOdometerReadingResponse,
	) error
	PositionFunc func(
		ctx context.Context,
		timeout time.Duration,
	) (Position, error)
	InternalStateFunc func(
		ctx context.Context,
		timeout time.Duration,
	) ([]byte, error)
	PointCloudMapFunc func(
		ctx context.Context,
		timeout time.Duration,
	) ([]byte, error)
	RunFinalOptimizationFunc func(
		ctx context.Context,
		timeout time.Duration,
	) error
	// contains filtered or unexported fields
}

type Position struct {
	X float64
	Y float64
	Z float64

	Real float64
	Imag float64
	Jmag float64
	Kmag float64

	ComponentReference string
}

type Request struct {
	// contains filtered or unexported fields
}

type RequestInterface interface {
	// contains filtered or unexported methods
}

type RequestMock struct {
	Request
	// contains filtered or unexported fields
}

type RequestParamType int64

type RequestType int64

type Response struct {
	// contains filtered or unexported fields
}

type SlamMode int64