Package com.viam.common.v1

Class Common.Pose.Builder

java.lang.Object
com.google.protobuf.AbstractMessageLite.Builder<MessageType,BuilderType>
com.google.protobuf.GeneratedMessageLite.Builder<Common.Pose,Common.Pose.Builder>
com.viam.common.v1.Common.Pose.Builder
All Implemented Interfaces:
com.google.protobuf.MessageLite.Builder, com.google.protobuf.MessageLiteOrBuilder, Common.PoseOrBuilder, Cloneable
Enclosing class:
Common.Pose
public static final class Common.Pose.Builder extends com.google.protobuf.GeneratedMessageLite.Builder<Common.Pose,Common.Pose.Builder> implements Common.PoseOrBuilder
 Pose is a combination of location and orientation.
 Location is expressed as distance which is represented by x , y, z coordinates. Orientation is expressed as an orientation vector which
 is represented by o_x, o_y, o_z and theta. The o_x, o_y, o_z coordinates represent the point on the cartesian unit sphere that the end of
 the arm is pointing to (with the origin as reference). That unit vector forms an axis around which theta rotates. This means that
 incrementing / decrementing theta will perform an inline rotation of the end effector.
 Theta is defined as rotation between two planes: the first being defined by the origin, the point (0,0,1), and the rx, ry, rz point, and the
 second being defined by the origin, the rx, ry, rz point and the local Z axis. Therefore, if theta is kept at zero as the north/south pole
 is circled, the Roll will correct itself to remain in-line.
Protobuf type viam.common.v1.Pose

  • Field Summary

    Fields inherited from class com.google.protobuf.GeneratedMessageLite.Builder

    instance

  • Method Summary

    Modifier and Type
    Method
    Description
    Common.Pose.Builder
    clearOX()
    z component of a vector defining axis of rotation
    Common.Pose.Builder
    clearOY()
    x component of a vector defining axis of rotation
    Common.Pose.Builder
    clearOZ()
    y component of a vector defining axis of rotation
    Common.Pose.Builder
    clearTheta()
    degrees
    Common.Pose.Builder
    clearX()
    millimeters from the origin
    Common.Pose.Builder
    clearY()
    millimeters from the origin
    Common.Pose.Builder
    clearZ()
    millimeters from the origin
    double
    getOX()
    z component of a vector defining axis of rotation
    double
    getOY()
    x component of a vector defining axis of rotation
    double
    getOZ()
    y component of a vector defining axis of rotation
    double
    getTheta()
    degrees
    double
    getX()
    millimeters from the origin
    double
    getY()
    millimeters from the origin
    double
    getZ()
    millimeters from the origin
    Common.Pose.Builder
    setOX(double value)
    z component of a vector defining axis of rotation
    Common.Pose.Builder
    setOY(double value)
    x component of a vector defining axis of rotation
    Common.Pose.Builder
    setOZ(double value)
    y component of a vector defining axis of rotation
    Common.Pose.Builder
    setTheta(double value)
    degrees
    Common.Pose.Builder
    setX(double value)
    millimeters from the origin
    Common.Pose.Builder
    setY(double value)
    millimeters from the origin
    Common.Pose.Builder
    setZ(double value)
    millimeters from the origin

    Methods inherited from class com.google.protobuf.GeneratedMessageLite.Builder

    build, buildPartial, clear, clone, copyOnWrite, copyOnWriteInternal, getDefaultInstanceForType, internalMergeFrom, isInitialized, mergeFrom, mergeFrom, mergeFrom, mergeFrom

    Methods inherited from class com.google.protobuf.AbstractMessageLite.Builder

    addAll, addAll, mergeDelimitedFrom, mergeDelimitedFrom, mergeFrom, mergeFrom, mergeFrom, mergeFrom, mergeFrom, mergeFrom, mergeFrom, mergeFrom, newUninitializedMessageException

    Methods inherited from class java.lang.Object

    equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

    Methods inherited from interface com.google.protobuf.MessageLiteOrBuilder

    getDefaultInstanceForType, isInitialized

  • Method Details

    • getX

      public double getX()
       millimeters from the origin
      double x = 1 [json_name = "x"];
      Specified by:
      getX in interface Common.PoseOrBuilder
      Returns:
      The x.

    • setX

      public Common.Pose.Builder setX(double value)
       millimeters from the origin
      double x = 1 [json_name = "x"];
      Parameters:
      value - The x to set.
      Returns:
      This builder for chaining.

    • clearX

      public Common.Pose.Builder clearX()
       millimeters from the origin
      double x = 1 [json_name = "x"];
      Returns:
      This builder for chaining.

    • getY

      public double getY()
       millimeters from the origin
      double y = 2 [json_name = "y"];
      Specified by:
      getY in interface Common.PoseOrBuilder
      Returns:
      The y.

    • setY

      public Common.Pose.Builder setY(double value)
       millimeters from the origin
      double y = 2 [json_name = "y"];
      Parameters:
      value - The y to set.
      Returns:
      This builder for chaining.

    • clearY

      public Common.Pose.Builder clearY()
       millimeters from the origin
      double y = 2 [json_name = "y"];
      Returns:
      This builder for chaining.

    • getZ

      public double getZ()
       millimeters from the origin
      double z = 3 [json_name = "z"];
      Specified by:
      getZ in interface Common.PoseOrBuilder
      Returns:
      The z.

    • setZ

      public Common.Pose.Builder setZ(double value)
       millimeters from the origin
      double z = 3 [json_name = "z"];
      Parameters:
      value - The z to set.
      Returns:
      This builder for chaining.

    • clearZ

      public Common.Pose.Builder clearZ()
       millimeters from the origin
      double z = 3 [json_name = "z"];
      Returns:
      This builder for chaining.

    • getOX

      public double getOX()
       z component of a vector defining axis of rotation
      double o_x = 4 [json_name = "oX"];
      Specified by:
      getOX in interface Common.PoseOrBuilder
      Returns:
      The oX.

    • setOX

      public Common.Pose.Builder setOX(double value)
       z component of a vector defining axis of rotation
      double o_x = 4 [json_name = "oX"];
      Parameters:
      value - The oX to set.
      Returns:
      This builder for chaining.

    • clearOX

      public Common.Pose.Builder clearOX()
       z component of a vector defining axis of rotation
      double o_x = 4 [json_name = "oX"];
      Returns:
      This builder for chaining.

    • getOY

      public double getOY()
       x component of a vector defining axis of rotation
      double o_y = 5 [json_name = "oY"];
      Specified by:
      getOY in interface Common.PoseOrBuilder
      Returns:
      The oY.

    • setOY

      public Common.Pose.Builder setOY(double value)
       x component of a vector defining axis of rotation
      double o_y = 5 [json_name = "oY"];
      Parameters:
      value - The oY to set.
      Returns:
      This builder for chaining.

    • clearOY

      public Common.Pose.Builder clearOY()
       x component of a vector defining axis of rotation
      double o_y = 5 [json_name = "oY"];
      Returns:
      This builder for chaining.

    • getOZ

      public double getOZ()
       y component of a vector defining axis of rotation
      double o_z = 6 [json_name = "oZ"];
      Specified by:
      getOZ in interface Common.PoseOrBuilder
      Returns:
      The oZ.

    • setOZ

      public Common.Pose.Builder setOZ(double value)
       y component of a vector defining axis of rotation
      double o_z = 6 [json_name = "oZ"];
      Parameters:
      value - The oZ to set.
      Returns:
      This builder for chaining.

    • clearOZ

      public Common.Pose.Builder clearOZ()
       y component of a vector defining axis of rotation
      double o_z = 6 [json_name = "oZ"];
      Returns:
      This builder for chaining.

    • getTheta

      public double getTheta()
       degrees
      double theta = 7 [json_name = "theta"];
      Specified by:
      getTheta in interface Common.PoseOrBuilder
      Returns:
      The theta.

    • setTheta

      public Common.Pose.Builder setTheta(double value)
       degrees
      double theta = 7 [json_name = "theta"];
      Parameters:
      value - The theta to set.
      Returns:
      This builder for chaining.

    • clearTheta

      public Common.Pose.Builder clearTheta()
       degrees
      double theta = 7 [json_name = "theta"];
      Returns:
      This builder for chaining.