Package com.viam.common.v1

Class Common.GeoPose.Builder

java.lang.Object
com.google.protobuf.AbstractMessageLite.Builder<Common.GeoPose,Common.GeoPose.Builder>
com.google.protobuf.GeneratedMessageLite.Builder<Common.GeoPose,Common.GeoPose.Builder>
com.viam.common.v1.Common.GeoPose.Builder
All Implemented Interfaces:
com.google.protobuf.MessageLite.Builder, com.google.protobuf.MessageLiteOrBuilder, Common.GeoPoseOrBuilder, Cloneable
Enclosing class:
Common.GeoPose
public static final class Common.GeoPose.Builder extends com.google.protobuf.GeneratedMessageLite.Builder<Common.GeoPose,Common.GeoPose.Builder> implements Common.GeoPoseOrBuilder
 GeoPose is a GPS position and orientation, optionally with altitude.

 Orientation is expressed in the east-north-up tangent frame at location:
 +X east, +Y north, +Z up. Viam base axes are +X right, +Y forward, and +Z up,
 so the identity orientation (o_x, o_y, o_z, theta) = (0, 0, 1, 0) is level and
 faces north: forward is north and right is east.

 The same rotation as an orientation vector is Viam's Tait-Bryan Euler sequence,
 intrinsic z-y'-x'' (yaw, then pitch, then roll), in degrees:
 - yaw: right-handed rotation about local up (+Z). Zero faces north. Positive
 yaw is counterclockwise viewed from above, so a compass heading in degrees
 clockwise from north is the negation of yaw.
 - pitch: right-handed rotation about the base's forward axis (+Y).
 - roll: right-handed rotation about the base's right axis (+X). With pitch 0,
 positive roll raises the forward axis; that angle is the elevation of
 forward above the local horizon.

 Exactly one of heading or orientation_vector is set. heading is only the
 compass yaw of a level pose (pitch 0, roll 0). It is not added to
 orientation_vector.
Protobuf type viam.common.v1.GeoPose

  • Method Details

    • getOrientationCase

      public Common.GeoPose.OrientationCase getOrientationCase()
      Specified by:
      getOrientationCase in interface Common.GeoPoseOrBuilder

    • clearOrientation

      public Common.GeoPose.Builder clearOrientation()

    • hasLocation

      public boolean hasLocation()
       Latitude and longitude in degrees
      .viam.common.v1.GeoPoint location = 1 [json_name = "location"];
      Specified by:
      hasLocation in interface Common.GeoPoseOrBuilder
      Returns:
      Whether the location field is set.

    • getLocation

      public Common.GeoPoint getLocation()
       Latitude and longitude in degrees
      .viam.common.v1.GeoPoint location = 1 [json_name = "location"];
      Specified by:
      getLocation in interface Common.GeoPoseOrBuilder
      Returns:
      The location.

    • setLocation

      public Common.GeoPose.Builder setLocation(Common.GeoPoint value)
       Latitude and longitude in degrees
      .viam.common.v1.GeoPoint location = 1 [json_name = "location"];

    • setLocation

      public Common.GeoPose.Builder setLocation(Common.GeoPoint.Builder builderForValue)
       Latitude and longitude in degrees
      .viam.common.v1.GeoPoint location = 1 [json_name = "location"];

    • mergeLocation

      public Common.GeoPose.Builder mergeLocation(Common.GeoPoint value)
       Latitude and longitude in degrees
      .viam.common.v1.GeoPoint location = 1 [json_name = "location"];

    • clearLocation

      public Common.GeoPose.Builder clearLocation()
       Latitude and longitude in degrees
      .viam.common.v1.GeoPoint location = 1 [json_name = "location"];

    • hasAltitude

      public boolean hasAltitude()
       Optional altitude in meters
      optional double altitude = 3 [json_name = "altitude"];
      Specified by:
      hasAltitude in interface Common.GeoPoseOrBuilder
      Returns:
      Whether the altitude field is set.

    • getAltitude

      public double getAltitude()
       Optional altitude in meters
      optional double altitude = 3 [json_name = "altitude"];
      Specified by:
      getAltitude in interface Common.GeoPoseOrBuilder
      Returns:
      The altitude.

    • setAltitude

      public Common.GeoPose.Builder setAltitude(double value)
       Optional altitude in meters
      optional double altitude = 3 [json_name = "altitude"];
      Parameters:
      value - The altitude to set.
      Returns:
      This builder for chaining.

    • clearAltitude

      public Common.GeoPose.Builder clearAltitude()
       Optional altitude in meters
      optional double altitude = 3 [json_name = "altitude"];
      Returns:
      This builder for chaining.

    • hasHeading

      public boolean hasHeading()
       Compass heading in degrees, clockwise from north. Level pose: pitch 0, roll 0.
      double heading = 2 [json_name = "heading"];
      Specified by:
      hasHeading in interface Common.GeoPoseOrBuilder
      Returns:
      Whether the heading field is set.

    • getHeading

      public double getHeading()
       Compass heading in degrees, clockwise from north. Level pose: pitch 0, roll 0.
      double heading = 2 [json_name = "heading"];
      Specified by:
      getHeading in interface Common.GeoPoseOrBuilder
      Returns:
      The heading.

    • setHeading

      public Common.GeoPose.Builder setHeading(double value)
       Compass heading in degrees, clockwise from north. Level pose: pitch 0, roll 0.
      double heading = 2 [json_name = "heading"];
      Parameters:
      value - The heading to set.
      Returns:
      This builder for chaining.

    • clearHeading

      public Common.GeoPose.Builder clearHeading()
       Compass heading in degrees, clockwise from north. Level pose: pitch 0, roll 0.
      double heading = 2 [json_name = "heading"];
      Returns:
      This builder for chaining.

    • hasOrientationVector

      public boolean hasOrientationVector()
       Full orientation in the east-north-up tangent frame at location.
 o_x, o_y, o_z, theta in degrees, same orientation vector as Pose.
      .viam.common.v1.Orientation orientation_vector = 4 [json_name = "orientationVector"];
      Specified by:
      hasOrientationVector in interface Common.GeoPoseOrBuilder
      Returns:
      Whether the orientationVector field is set.

    • getOrientationVector

      public Common.Orientation getOrientationVector()
       Full orientation in the east-north-up tangent frame at location.
 o_x, o_y, o_z, theta in degrees, same orientation vector as Pose.
      .viam.common.v1.Orientation orientation_vector = 4 [json_name = "orientationVector"];
      Specified by:
      getOrientationVector in interface Common.GeoPoseOrBuilder
      Returns:
      The orientationVector.

    • setOrientationVector

      public Common.GeoPose.Builder setOrientationVector(Common.Orientation value)
       Full orientation in the east-north-up tangent frame at location.
 o_x, o_y, o_z, theta in degrees, same orientation vector as Pose.
      .viam.common.v1.Orientation orientation_vector = 4 [json_name = "orientationVector"];

    • setOrientationVector

      public Common.GeoPose.Builder setOrientationVector(Common.Orientation.Builder builderForValue)
       Full orientation in the east-north-up tangent frame at location.
 o_x, o_y, o_z, theta in degrees, same orientation vector as Pose.
      .viam.common.v1.Orientation orientation_vector = 4 [json_name = "orientationVector"];

    • mergeOrientationVector

      public Common.GeoPose.Builder mergeOrientationVector(Common.Orientation value)
       Full orientation in the east-north-up tangent frame at location.
 o_x, o_y, o_z, theta in degrees, same orientation vector as Pose.
      .viam.common.v1.Orientation orientation_vector = 4 [json_name = "orientationVector"];

    • clearOrientationVector

      public Common.GeoPose.Builder clearOrientationVector()
       Full orientation in the east-north-up tangent frame at location.
 o_x, o_y, o_z, theta in degrees, same orientation vector as Pose.
      .viam.common.v1.Orientation orientation_vector = 4 [json_name = "orientationVector"];