Ray Cast¶
Client implementation of the RayCast service.
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exception
bosdyn.client.ray_cast.
RayCastResponseError
(response, error_message=None)[source]¶ Bases:
bosdyn.client.exceptions.ResponseError
General class of errors for ray cast service.
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exception
bosdyn.client.ray_cast.
InvalidRequestError
(response, error_message=None)[source]¶ Bases:
bosdyn.client.ray_cast.RayCastResponseError
Request was invalid / malformed in some way.
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exception
bosdyn.client.ray_cast.
InvalidIntersectionTypeError
(response, error_message=None)[source]¶ Bases:
bosdyn.client.ray_cast.RayCastResponseError
Requested source not valid for current robot configuration.
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exception
bosdyn.client.ray_cast.
UnknownFrameError
(response, error_message=None)[source]¶ Bases:
bosdyn.client.ray_cast.RayCastResponseError
The frame_name for a command was not a known frame.
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class
bosdyn.client.ray_cast.
RayCastClient
[source]¶ Bases:
bosdyn.client.common.BaseClient
A client that allows arbitrary rays to be queried against the robot.
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default_service_name
= 'ray-cast'¶
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service_type
= 'bosdyn.api.RayCastService'¶
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raycast
(ray_origin, ray_direction, raycast_types, min_distance=0, frame_name=None, **kwargs)[source]¶ Requests robot to intersect ray against the environment it built up.
- Parameters
ray_origin – (x, y, z) position of the ray in the specified frame.
ray_direction – (x, y, z) vector denoting the direction of the ray in the specified frame.
raycast_types – array of 0 or more raycast types. 0 will cast into all sources.
min_distance – a positive real value denoting how far (meters) behind a ray an intersection can occur.
frame_name – the frame the ray is in.
- Returns
RaycastResponse
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