Package com.viam.component.arm.v1

Class Arm.MoveOptions.Builder

java.lang.Object
com.google.protobuf.AbstractMessageLite.Builder<Arm.MoveOptions,Arm.MoveOptions.Builder>
com.google.protobuf.GeneratedMessageLite.Builder<Arm.MoveOptions,Arm.MoveOptions.Builder>
com.viam.component.arm.v1.Arm.MoveOptions.Builder
All Implemented Interfaces:
com.google.protobuf.MessageLite.Builder, com.google.protobuf.MessageLiteOrBuilder, Arm.MoveOptionsOrBuilder, Cloneable
Enclosing class:
Arm.MoveOptions
public static final class Arm.MoveOptions.Builder extends com.google.protobuf.GeneratedMessageLite.Builder<Arm.MoveOptions,Arm.MoveOptions.Builder> implements Arm.MoveOptionsOrBuilder
 MoveOptions specifies kinematic constraints for an arm motion. All fields
 are optional ceilings; any combination may be set. Every constraint that
 is set is respected at every point along the executed trajectory.
 The limiting constraint may change throughout execution.
Protobuf type viam.component.arm.v1.MoveOptions

  • Method Details

    • hasMaxVelDegsPerSec

      public boolean hasMaxVelDegsPerSec()
       Maximum allowable velocity of an arm joint, in degrees per second.
 The arm driver will move as fast as possible up to the set value.
 Ignored when max_vel_degs_per_sec_joints is set.
      optional double max_vel_degs_per_sec = 1 [json_name = "maxVelDegsPerSec"];
      Specified by:
      hasMaxVelDegsPerSec in interface Arm.MoveOptionsOrBuilder
      Returns:
      Whether the maxVelDegsPerSec field is set.

    • getMaxVelDegsPerSec

      public double getMaxVelDegsPerSec()
       Maximum allowable velocity of an arm joint, in degrees per second.
 The arm driver will move as fast as possible up to the set value.
 Ignored when max_vel_degs_per_sec_joints is set.
      optional double max_vel_degs_per_sec = 1 [json_name = "maxVelDegsPerSec"];
      Specified by:
      getMaxVelDegsPerSec in interface Arm.MoveOptionsOrBuilder
      Returns:
      The maxVelDegsPerSec.

    • setMaxVelDegsPerSec

      public Arm.MoveOptions.Builder setMaxVelDegsPerSec(double value)
       Maximum allowable velocity of an arm joint, in degrees per second.
 The arm driver will move as fast as possible up to the set value.
 Ignored when max_vel_degs_per_sec_joints is set.
      optional double max_vel_degs_per_sec = 1 [json_name = "maxVelDegsPerSec"];
      Parameters:
      value - The maxVelDegsPerSec to set.
      Returns:
      This builder for chaining.

    • clearMaxVelDegsPerSec

      public Arm.MoveOptions.Builder clearMaxVelDegsPerSec()
       Maximum allowable velocity of an arm joint, in degrees per second.
 The arm driver will move as fast as possible up to the set value.
 Ignored when max_vel_degs_per_sec_joints is set.
      optional double max_vel_degs_per_sec = 1 [json_name = "maxVelDegsPerSec"];
      Returns:
      This builder for chaining.

    • hasMaxAccDegsPerSec2

      public boolean hasMaxAccDegsPerSec2()
       Maximum allowable acceleration of an arm joint, in degrees per second squared.
 The arm driver will accelerate as fast as possible up to the set value.
 ignored when max_acc_degs_per_sec2_joints is set.
      optional double max_acc_degs_per_sec2 = 2 [json_name = "maxAccDegsPerSec2"];
      Specified by:
      hasMaxAccDegsPerSec2 in interface Arm.MoveOptionsOrBuilder
      Returns:
      Whether the maxAccDegsPerSec2 field is set.

    • getMaxAccDegsPerSec2

      public double getMaxAccDegsPerSec2()
       Maximum allowable acceleration of an arm joint, in degrees per second squared.
 The arm driver will accelerate as fast as possible up to the set value.
 ignored when max_acc_degs_per_sec2_joints is set.
      optional double max_acc_degs_per_sec2 = 2 [json_name = "maxAccDegsPerSec2"];
      Specified by:
      getMaxAccDegsPerSec2 in interface Arm.MoveOptionsOrBuilder
      Returns:
      The maxAccDegsPerSec2.

    • setMaxAccDegsPerSec2

      public Arm.MoveOptions.Builder setMaxAccDegsPerSec2(double value)
       Maximum allowable acceleration of an arm joint, in degrees per second squared.
 The arm driver will accelerate as fast as possible up to the set value.
 ignored when max_acc_degs_per_sec2_joints is set.
      optional double max_acc_degs_per_sec2 = 2 [json_name = "maxAccDegsPerSec2"];
      Parameters:
      value - The maxAccDegsPerSec2 to set.
      Returns:
      This builder for chaining.

    • clearMaxAccDegsPerSec2

      public Arm.MoveOptions.Builder clearMaxAccDegsPerSec2()
       Maximum allowable acceleration of an arm joint, in degrees per second squared.
 The arm driver will accelerate as fast as possible up to the set value.
 ignored when max_acc_degs_per_sec2_joints is set.
      optional double max_acc_degs_per_sec2 = 2 [json_name = "maxAccDegsPerSec2"];
      Returns:
      This builder for chaining.

    • getMaxVelDegsPerSecJointsList

      public List<Double> getMaxVelDegsPerSecJointsList()
       Per-joint maximum velocity in degrees per second.
 The arm driver will move each joint as fast as possible up to its respective set value.
      repeated double max_vel_degs_per_sec_joints = 3 [json_name = "maxVelDegsPerSecJoints"];
      Specified by:
      getMaxVelDegsPerSecJointsList in interface Arm.MoveOptionsOrBuilder
      Returns:
      A list containing the maxVelDegsPerSecJoints.

    • getMaxVelDegsPerSecJointsCount

      public int getMaxVelDegsPerSecJointsCount()
       Per-joint maximum velocity in degrees per second.
 The arm driver will move each joint as fast as possible up to its respective set value.
      repeated double max_vel_degs_per_sec_joints = 3 [json_name = "maxVelDegsPerSecJoints"];
      Specified by:
      getMaxVelDegsPerSecJointsCount in interface Arm.MoveOptionsOrBuilder
      Returns:
      The count of maxVelDegsPerSecJoints.

    • getMaxVelDegsPerSecJoints

      public double getMaxVelDegsPerSecJoints(int index)
       Per-joint maximum velocity in degrees per second.
 The arm driver will move each joint as fast as possible up to its respective set value.
      repeated double max_vel_degs_per_sec_joints = 3 [json_name = "maxVelDegsPerSecJoints"];
      Specified by:
      getMaxVelDegsPerSecJoints in interface Arm.MoveOptionsOrBuilder
      Parameters:
      index - The index of the element to return.
      Returns:
      The maxVelDegsPerSecJoints at the given index.

    • setMaxVelDegsPerSecJoints

      public Arm.MoveOptions.Builder setMaxVelDegsPerSecJoints(int index, double value)
       Per-joint maximum velocity in degrees per second.
 The arm driver will move each joint as fast as possible up to its respective set value.
      repeated double max_vel_degs_per_sec_joints = 3 [json_name = "maxVelDegsPerSecJoints"];
      Parameters:
      value - The maxVelDegsPerSecJoints to set.
      Returns:
      This builder for chaining.

    • addMaxVelDegsPerSecJoints

      public Arm.MoveOptions.Builder addMaxVelDegsPerSecJoints(double value)
       Per-joint maximum velocity in degrees per second.
 The arm driver will move each joint as fast as possible up to its respective set value.
      repeated double max_vel_degs_per_sec_joints = 3 [json_name = "maxVelDegsPerSecJoints"];
      Parameters:
      value - The maxVelDegsPerSecJoints to add.
      Returns:
      This builder for chaining.

    • addAllMaxVelDegsPerSecJoints

      public Arm.MoveOptions.Builder addAllMaxVelDegsPerSecJoints(Iterable<? extends Double> values)
       Per-joint maximum velocity in degrees per second.
 The arm driver will move each joint as fast as possible up to its respective set value.
      repeated double max_vel_degs_per_sec_joints = 3 [json_name = "maxVelDegsPerSecJoints"];
      Parameters:
      values - The maxVelDegsPerSecJoints to add.
      Returns:
      This builder for chaining.

    • clearMaxVelDegsPerSecJoints

      public Arm.MoveOptions.Builder clearMaxVelDegsPerSecJoints()
       Per-joint maximum velocity in degrees per second.
 The arm driver will move each joint as fast as possible up to its respective set value.
      repeated double max_vel_degs_per_sec_joints = 3 [json_name = "maxVelDegsPerSecJoints"];
      Returns:
      This builder for chaining.

    • getMaxAccDegsPerSec2JointsList

      public List<Double> getMaxAccDegsPerSec2JointsList()
       Per-joint maximum acceleration in degrees per second squared.
 The arm driver will accelerate each joint as fast as possible up to its respective set value.
      repeated double max_acc_degs_per_sec2_joints = 4 [json_name = "maxAccDegsPerSec2Joints"];
      Specified by:
      getMaxAccDegsPerSec2JointsList in interface Arm.MoveOptionsOrBuilder
      Returns:
      A list containing the maxAccDegsPerSec2Joints.

    • getMaxAccDegsPerSec2JointsCount

      public int getMaxAccDegsPerSec2JointsCount()
       Per-joint maximum acceleration in degrees per second squared.
 The arm driver will accelerate each joint as fast as possible up to its respective set value.
      repeated double max_acc_degs_per_sec2_joints = 4 [json_name = "maxAccDegsPerSec2Joints"];
      Specified by:
      getMaxAccDegsPerSec2JointsCount in interface Arm.MoveOptionsOrBuilder
      Returns:
      The count of maxAccDegsPerSec2Joints.

    • getMaxAccDegsPerSec2Joints

      public double getMaxAccDegsPerSec2Joints(int index)
       Per-joint maximum acceleration in degrees per second squared.
 The arm driver will accelerate each joint as fast as possible up to its respective set value.
      repeated double max_acc_degs_per_sec2_joints = 4 [json_name = "maxAccDegsPerSec2Joints"];
      Specified by:
      getMaxAccDegsPerSec2Joints in interface Arm.MoveOptionsOrBuilder
      Parameters:
      index - The index of the element to return.
      Returns:
      The maxAccDegsPerSec2Joints at the given index.

    • setMaxAccDegsPerSec2Joints

      public Arm.MoveOptions.Builder setMaxAccDegsPerSec2Joints(int index, double value)
       Per-joint maximum acceleration in degrees per second squared.
 The arm driver will accelerate each joint as fast as possible up to its respective set value.
      repeated double max_acc_degs_per_sec2_joints = 4 [json_name = "maxAccDegsPerSec2Joints"];
      Parameters:
      value - The maxAccDegsPerSec2Joints to set.
      Returns:
      This builder for chaining.

    • addMaxAccDegsPerSec2Joints

      public Arm.MoveOptions.Builder addMaxAccDegsPerSec2Joints(double value)
       Per-joint maximum acceleration in degrees per second squared.
 The arm driver will accelerate each joint as fast as possible up to its respective set value.
      repeated double max_acc_degs_per_sec2_joints = 4 [json_name = "maxAccDegsPerSec2Joints"];
      Parameters:
      value - The maxAccDegsPerSec2Joints to add.
      Returns:
      This builder for chaining.

    • addAllMaxAccDegsPerSec2Joints

      public Arm.MoveOptions.Builder addAllMaxAccDegsPerSec2Joints(Iterable<? extends Double> values)
       Per-joint maximum acceleration in degrees per second squared.
 The arm driver will accelerate each joint as fast as possible up to its respective set value.
      repeated double max_acc_degs_per_sec2_joints = 4 [json_name = "maxAccDegsPerSec2Joints"];
      Parameters:
      values - The maxAccDegsPerSec2Joints to add.
      Returns:
      This builder for chaining.

    • clearMaxAccDegsPerSec2Joints

      public Arm.MoveOptions.Builder clearMaxAccDegsPerSec2Joints()
       Per-joint maximum acceleration in degrees per second squared.
 The arm driver will accelerate each joint as fast as possible up to its respective set value.
      repeated double max_acc_degs_per_sec2_joints = 4 [json_name = "maxAccDegsPerSec2Joints"];
      Returns:
      This builder for chaining.

    • hasMaxTcpSpeed

      public boolean hasMaxTcpSpeed()
       Maximum allowable speed of an arm's tool center point in meters per second.
 The arm driver will move the tool center point as fast as possible up to this set value.
      optional double max_tcp_speed = 5 [json_name = "maxTcpSpeed"];
      Specified by:
      hasMaxTcpSpeed in interface Arm.MoveOptionsOrBuilder
      Returns:
      Whether the maxTcpSpeed field is set.

    • getMaxTcpSpeed

      public double getMaxTcpSpeed()
       Maximum allowable speed of an arm's tool center point in meters per second.
 The arm driver will move the tool center point as fast as possible up to this set value.
      optional double max_tcp_speed = 5 [json_name = "maxTcpSpeed"];
      Specified by:
      getMaxTcpSpeed in interface Arm.MoveOptionsOrBuilder
      Returns:
      The maxTcpSpeed.

    • setMaxTcpSpeed

      public Arm.MoveOptions.Builder setMaxTcpSpeed(double value)
       Maximum allowable speed of an arm's tool center point in meters per second.
 The arm driver will move the tool center point as fast as possible up to this set value.
      optional double max_tcp_speed = 5 [json_name = "maxTcpSpeed"];
      Parameters:
      value - The maxTcpSpeed to set.
      Returns:
      This builder for chaining.

    • clearMaxTcpSpeed

      public Arm.MoveOptions.Builder clearMaxTcpSpeed()
       Maximum allowable speed of an arm's tool center point in meters per second.
 The arm driver will move the tool center point as fast as possible up to this set value.
      optional double max_tcp_speed = 5 [json_name = "maxTcpSpeed"];
      Returns:
      This builder for chaining.