Package com.viam.common.v1

Class Common.GeoPose

java.lang.Object
com.google.protobuf.AbstractMessageLite<Common.GeoPose,Common.GeoPose.Builder>
com.google.protobuf.GeneratedMessageLite<Common.GeoPose,Common.GeoPose.Builder>
com.viam.common.v1.Common.GeoPose
All Implemented Interfaces:
com.google.protobuf.MessageLite, com.google.protobuf.MessageLiteOrBuilder, Common.GeoPoseOrBuilder
Enclosing class:
Common
public static final class Common.GeoPose extends com.google.protobuf.GeneratedMessageLite<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

  • Nested Class Summary

    Nested Classes
    Modifier and Type
    Class
    Description
    static final class 
    Common.GeoPose.Builder
    GeoPose is a GPS position and orientation, optionally with altitude.
    static enum 
    Common.GeoPose.OrientationCase
     

    Nested classes/interfaces inherited from class com.google.protobuf.GeneratedMessageLite

    com.google.protobuf.GeneratedMessageLite.DefaultInstanceBasedParser<T extends com.google.protobuf.GeneratedMessageLite<T,?>>, com.google.protobuf.GeneratedMessageLite.ExtendableBuilder<MessageType extends com.google.protobuf.GeneratedMessageLite.ExtendableMessage<MessageType,BuilderType>,BuilderType extends com.google.protobuf.GeneratedMessageLite.ExtendableBuilder<MessageType,BuilderType>>, com.google.protobuf.GeneratedMessageLite.ExtendableMessage<MessageType extends com.google.protobuf.GeneratedMessageLite.ExtendableMessage<MessageType,BuilderType>,BuilderType extends com.google.protobuf.GeneratedMessageLite.ExtendableBuilder<MessageType,BuilderType>>, com.google.protobuf.GeneratedMessageLite.ExtendableMessageOrBuilder<MessageType extends com.google.protobuf.GeneratedMessageLite.ExtendableMessage<MessageType,BuilderType>,BuilderType extends com.google.protobuf.GeneratedMessageLite.ExtendableBuilder<MessageType,BuilderType>>, com.google.protobuf.GeneratedMessageLite.GeneratedExtension<ContainingType extends com.google.protobuf.MessageLite,Type>, com.google.protobuf.GeneratedMessageLite.MethodToInvoke, com.google.protobuf.GeneratedMessageLite.SerializedForm

    Nested classes/interfaces inherited from class com.google.protobuf.AbstractMessageLite

    com.google.protobuf.AbstractMessageLite.InternalOneOfEnum

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    static final int
    ALTITUDE_FIELD_NUMBER
     
    static final int
    HEADING_FIELD_NUMBER
     
    static final int
    LOCATION_FIELD_NUMBER
     
    static final int
    ORIENTATION_VECTOR_FIELD_NUMBER
     

    Fields inherited from class com.google.protobuf.GeneratedMessageLite

    unknownFields

    Fields inherited from class com.google.protobuf.AbstractMessageLite

    memoizedHashCode

  • Method Summary

    Modifier and Type
    Method
    Description
    protected final Object
    dynamicMethod(com.google.protobuf.GeneratedMessageLite.MethodToInvoke method, Object arg0, Object arg1)
     
    double
    getAltitude()
    Optional altitude in meters
    static Common.GeoPose
    getDefaultInstance()
     
    double
    getHeading()
    Compass heading in degrees, clockwise from north.
    Common.GeoPoint
    getLocation()
    Latitude and longitude in degrees
    Common.GeoPose.OrientationCase
    getOrientationCase()
     
    Common.Orientation
    getOrientationVector()
    Full orientation in the east-north-up tangent frame at location.
    boolean
    hasAltitude()
    Optional altitude in meters
    boolean
    hasHeading()
    Compass heading in degrees, clockwise from north.
    boolean
    hasLocation()
    Latitude and longitude in degrees
    boolean
    hasOrientationVector()
    Full orientation in the east-north-up tangent frame at location.
    static Common.GeoPose.Builder
    newBuilder()
     
    static Common.GeoPose.Builder
    newBuilder(Common.GeoPose prototype)
     
    static Common.GeoPose
    parseDelimitedFrom(InputStream input)
     
    static Common.GeoPose
    parseDelimitedFrom(InputStream input, com.google.protobuf.ExtensionRegistryLite extensionRegistry)
     
    static Common.GeoPose
    parseFrom(byte[] data)
     
    static Common.GeoPose
    parseFrom(byte[] data, com.google.protobuf.ExtensionRegistryLite extensionRegistry)
     
    static Common.GeoPose
    parseFrom(com.google.protobuf.ByteString data)
     
    static Common.GeoPose
    parseFrom(com.google.protobuf.ByteString data, com.google.protobuf.ExtensionRegistryLite extensionRegistry)
     
    static Common.GeoPose
    parseFrom(com.google.protobuf.CodedInputStream input)
     
    static Common.GeoPose
    parseFrom(com.google.protobuf.CodedInputStream input, com.google.protobuf.ExtensionRegistryLite extensionRegistry)
     
    static Common.GeoPose
    parseFrom(InputStream input)
     
    static Common.GeoPose
    parseFrom(InputStream input, com.google.protobuf.ExtensionRegistryLite extensionRegistry)
     
    static Common.GeoPose
    parseFrom(ByteBuffer data)
     
    static Common.GeoPose
    parseFrom(ByteBuffer data, com.google.protobuf.ExtensionRegistryLite extensionRegistry)
     
    static com.google.protobuf.Parser<Common.GeoPose>
    parser()
     

    Methods inherited from class com.google.protobuf.GeneratedMessageLite

    createBuilder, createBuilder, emptyBooleanList, emptyDoubleList, emptyFloatList, emptyIntList, emptyLongList, emptyProtobufList, equals, getDefaultInstanceForType, getParserForType, getSerializedSize, hashCode, isInitialized, makeImmutable, mergeLengthDelimitedField, mergeUnknownFields, mergeVarintField, mutableCopy, mutableCopy, mutableCopy, mutableCopy, mutableCopy, mutableCopy, newBuilderForType, newMessageInfo, newRepeatedGeneratedExtension, newSingularGeneratedExtension, parseDelimitedFrom, parseDelimitedFrom, parseFrom, parseFrom, parseFrom, parseFrom, parseFrom, parseFrom, parseFrom, parseFrom, parseFrom, parseFrom, parsePartialFrom, parseUnknownField, registerDefaultInstance, toBuilder, toString, writeTo

    Methods inherited from class com.google.protobuf.AbstractMessageLite

    addAll, checkByteStringIsUtf8, toByteArray, toByteString, writeDelimitedTo, writeTo

    Methods inherited from class java.lang.Object

    clone, finalize, getClass, notify, notifyAll, wait, wait, wait

    Methods inherited from interface com.google.protobuf.MessageLiteOrBuilder

    getDefaultInstanceForType, isInitialized

  • Field Details

    • LOCATION_FIELD_NUMBER

      public static final int LOCATION_FIELD_NUMBER
      See Also:

    • ALTITUDE_FIELD_NUMBER

      public static final int ALTITUDE_FIELD_NUMBER
      See Also:

    • HEADING_FIELD_NUMBER

      public static final int HEADING_FIELD_NUMBER
      See Also:

    • ORIENTATION_VECTOR_FIELD_NUMBER

      public static final int ORIENTATION_VECTOR_FIELD_NUMBER
      See Also:

  • Method Details

    • getOrientationCase

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

    • 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.

    • 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.

    • 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.

    • 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.

    • parseFrom

      public static Common.GeoPose parseFrom(ByteBuffer data) throws com.google.protobuf.InvalidProtocolBufferException
      Throws:
      com.google.protobuf.InvalidProtocolBufferException

    • parseFrom

      public static Common.GeoPose parseFrom(ByteBuffer data, com.google.protobuf.ExtensionRegistryLite extensionRegistry) throws com.google.protobuf.InvalidProtocolBufferException
      Throws:
      com.google.protobuf.InvalidProtocolBufferException

    • parseFrom

      public static Common.GeoPose parseFrom(com.google.protobuf.ByteString data) throws com.google.protobuf.InvalidProtocolBufferException
      Throws:
      com.google.protobuf.InvalidProtocolBufferException

    • parseFrom

      public static Common.GeoPose parseFrom(com.google.protobuf.ByteString data, com.google.protobuf.ExtensionRegistryLite extensionRegistry) throws com.google.protobuf.InvalidProtocolBufferException
      Throws:
      com.google.protobuf.InvalidProtocolBufferException

    • parseFrom

      public static Common.GeoPose parseFrom(byte[] data) throws com.google.protobuf.InvalidProtocolBufferException
      Throws:
      com.google.protobuf.InvalidProtocolBufferException

    • parseFrom

      public static Common.GeoPose parseFrom(byte[] data, com.google.protobuf.ExtensionRegistryLite extensionRegistry) throws com.google.protobuf.InvalidProtocolBufferException
      Throws:
      com.google.protobuf.InvalidProtocolBufferException

    • parseFrom

      public static Common.GeoPose parseFrom(InputStream input) throws IOException
      Throws:
      IOException

    • parseFrom

      public static Common.GeoPose parseFrom(InputStream input, com.google.protobuf.ExtensionRegistryLite extensionRegistry) throws IOException
      Throws:
      IOException

    • parseDelimitedFrom

      public static Common.GeoPose parseDelimitedFrom(InputStream input) throws IOException
      Throws:
      IOException

    • parseDelimitedFrom

      public static Common.GeoPose parseDelimitedFrom(InputStream input, com.google.protobuf.ExtensionRegistryLite extensionRegistry) throws IOException
      Throws:
      IOException

    • parseFrom

      public static Common.GeoPose parseFrom(com.google.protobuf.CodedInputStream input) throws IOException
      Throws:
      IOException

    • parseFrom

      public static Common.GeoPose parseFrom(com.google.protobuf.CodedInputStream input, com.google.protobuf.ExtensionRegistryLite extensionRegistry) throws IOException
      Throws:
      IOException

    • newBuilder

      public static Common.GeoPose.Builder newBuilder()

    • newBuilder

      public static Common.GeoPose.Builder newBuilder(Common.GeoPose prototype)

    • dynamicMethod

      protected final Object dynamicMethod(com.google.protobuf.GeneratedMessageLite.MethodToInvoke method, Object arg0, Object arg1)
      Specified by:
      dynamicMethod in class com.google.protobuf.GeneratedMessageLite<Common.GeoPose,Common.GeoPose.Builder>

    • getDefaultInstance

      public static Common.GeoPose getDefaultInstance()

    • parser

      public static com.google.protobuf.Parser<Common.GeoPose> parser()