Package com.viam.component.arm.v1

Interface Arm.MoveOptionsOrBuilder

All Superinterfaces:
com.google.protobuf.MessageLiteOrBuilder
All Known Implementing Classes:
Arm.MoveOptions, Arm.MoveOptions.Builder
Enclosing class:
Arm
public static interface Arm.MoveOptionsOrBuilder extends com.google.protobuf.MessageLiteOrBuilder

  • Method Details

    • hasMaxVelDegsPerSec

      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"];
      Returns:
      Whether the maxVelDegsPerSec field is set.

    • getMaxVelDegsPerSec

      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"];
      Returns:
      The maxVelDegsPerSec.

    • hasMaxAccDegsPerSec2

      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"];
      Returns:
      Whether the maxAccDegsPerSec2 field is set.

    • getMaxAccDegsPerSec2

      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"];
      Returns:
      The maxAccDegsPerSec2.

    • getMaxVelDegsPerSecJointsList

      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"];
      Returns:
      A list containing the maxVelDegsPerSecJoints.

    • getMaxVelDegsPerSecJointsCount

      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"];
      Returns:
      The count of maxVelDegsPerSecJoints.

    • getMaxVelDegsPerSecJoints

      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"];
      Parameters:
      index - The index of the element to return.
      Returns:
      The maxVelDegsPerSecJoints at the given index.

    • getMaxAccDegsPerSec2JointsList

      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"];
      Returns:
      A list containing the maxAccDegsPerSec2Joints.

    • getMaxAccDegsPerSec2JointsCount

      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"];
      Returns:
      The count of maxAccDegsPerSec2Joints.

    • getMaxAccDegsPerSec2Joints

      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"];
      Parameters:
      index - The index of the element to return.
      Returns:
      The maxAccDegsPerSec2Joints at the given index.

    • hasMaxTcpSpeed

      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"];
      Returns:
      Whether the maxTcpSpeed field is set.

    • getMaxTcpSpeed

      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"];
      Returns:
      The maxTcpSpeed.