Map Processing¶
For clients of the graph_nav map processing service.
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exception
bosdyn.client.map_processing.
MapProcessingServiceResponseError
(response, error_message=None)[source]¶ Bases:
bosdyn.client.exceptions.ResponseError
General class of errors for the GraphNav map processing service.
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exception
bosdyn.client.map_processing.
MissingSnapshotsError
(response, error_message=None)[source]¶ Bases:
bosdyn.client.map_processing.MapProcessingServiceResponseError
The uploaded map has missing waypoint snapshots.
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exception
bosdyn.client.map_processing.
OptimizationFailureError
(response, error_message=None)[source]¶ Bases:
bosdyn.client.map_processing.MapProcessingServiceResponseError
The anchoring optimization failed.
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exception
bosdyn.client.map_processing.
InvalidGraphError
(response, error_message=None)[source]¶ Bases:
bosdyn.client.map_processing.MapProcessingServiceResponseError
The graph is invalid topologically, for example containing missing waypoints referenced by edges.
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exception
bosdyn.client.map_processing.
InvalidParamsError
(response, error_message=None)[source]¶ Bases:
bosdyn.client.map_processing.MapProcessingServiceResponseError
The parameters passed to the optimizer do not make sense (e.g negative weights).
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exception
bosdyn.client.map_processing.
MaxIterationsError
(response, error_message=None)[source]¶ Bases:
bosdyn.client.map_processing.MapProcessingServiceResponseError
The optimizer reached the maximum number of iterations before converging.
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exception
bosdyn.client.map_processing.
MaxTimeError
(response, error_message=None)[source]¶ Bases:
bosdyn.client.map_processing.MapProcessingServiceResponseError
The optimizer timed out before converging.
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exception
bosdyn.client.map_processing.
InvalidHintsError
(response, error_message=None)[source]¶ Bases:
bosdyn.client.map_processing.MapProcessingServiceResponseError
One or more of the hints passed in to the optimizer are invalid (do not correspond to real waypoints or objects).
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exception
bosdyn.client.map_processing.
InvalidGravityAlignmentError
(response, error_message=None)[source]¶ Bases:
bosdyn.client.map_processing.MapProcessingServiceResponseError
One or more anchoring hints disagrees with gravity. Ensure the orientation of any hints is correct.
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exception
bosdyn.client.map_processing.
ConstraintViolationError
(response, error_message=None)[source]¶ Bases:
bosdyn.client.map_processing.MapProcessingServiceResponseError
One or more anchors were moved outside of the desired constraints.
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exception
bosdyn.client.map_processing.
MapModifiedError
(response, error_message=None)[source]¶ Bases:
bosdyn.client.map_processing.MapProcessingServiceResponseError
The map was modified on the server by another client during processing. Please try again.
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class
bosdyn.client.map_processing.
MapProcessingServiceClient
[source]¶ Bases:
bosdyn.client.common.BaseClient
Client for the GraphNav map processing service.
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default_service_name
= 'map-processing-service'¶
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service_type
= 'bosdyn.api.graph_nav.MapProcessingService'¶
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process_topology
(params, modify_map_on_server, **kwargs)[source]¶ - Process the topology of the map on the server, closing loops and producing a
consistent topology.
- Parameters
params – a ProcessTopologyRequest.Params object
modify_map_on_server – if true, the map will be modified on the server. If false,
subgraph returned by this function should be uploaded back to the server if it (the) –
to be reused. (is) –
- Returns
The ProcessTopologyResponse containing new edges to add to the map.
- Raises
RpcError – Problem communicating with the robot
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process_anchoring
(params, modify_anchoring_on_server, stream_intermediate_results, initial_hint=None, **kwargs)[source]¶ Process the anchoring of the map on the server, producing a metrically consistent anchoring.
- Parameters
params – a ProcessAnchoringRequest.Params object
modify_anchoring_on_server – if true, the map will be modified on the server. If false,
anchoring returned by this function should be uploaded back to the server if it (the) –
to be reused. (is) –
stream_intermediate_results – if true, anchorings from earlier optimizer
may be included in the response. If false (iterations) –
the last iteration will be returned. (only) –
initial_hint – Initial guess at some number of waypoints and world objects and their anchorings.
field is an AnchoringHint object (This) –
- Returns
The ProcessAnchoringResponse containing a new optimized anchoring.
- Raises
RpcError – Problem communicating with the robot
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