Package com.viam.component.arm.v1

Class Arm.TrajectoryPoint.Builder

java.lang.Object
com.google.protobuf.AbstractMessageLite.Builder<Arm.TrajectoryPoint,Arm.TrajectoryPoint.Builder>
com.google.protobuf.GeneratedMessageLite.Builder<Arm.TrajectoryPoint,Arm.TrajectoryPoint.Builder>
com.viam.component.arm.v1.Arm.TrajectoryPoint.Builder
All Implemented Interfaces:
com.google.protobuf.MessageLite.Builder, com.google.protobuf.MessageLiteOrBuilder, Arm.TrajectoryPointOrBuilder, Cloneable
Enclosing class:
Arm.TrajectoryPoint
public static final class Arm.TrajectoryPoint.Builder extends com.google.protobuf.GeneratedMessageLite.Builder<Arm.TrajectoryPoint,Arm.TrajectoryPoint.Builder> implements Arm.TrajectoryPointOrBuilder
 One waypoint in a streamed joint-space trajectory.
Protobuf type viam.component.arm.v1.TrajectoryPoint

  • Method Details

    • hasTime

      public boolean hasTime()
       Time from the start of the motion at which this waypoint should be reached. Must be zero
 for the first point of the stream and strictly increasing thereafter. Server implementations
 should validate these constraints.
      .google.protobuf.Duration time = 1 [json_name = "time"];
      Specified by:
      hasTime in interface Arm.TrajectoryPointOrBuilder
      Returns:
      Whether the time field is set.

    • getTime

      public com.google.protobuf.Duration getTime()
       Time from the start of the motion at which this waypoint should be reached. Must be zero
 for the first point of the stream and strictly increasing thereafter. Server implementations
 should validate these constraints.
      .google.protobuf.Duration time = 1 [json_name = "time"];
      Specified by:
      getTime in interface Arm.TrajectoryPointOrBuilder
      Returns:
      The time.

    • setTime

      public Arm.TrajectoryPoint.Builder setTime(com.google.protobuf.Duration value)
       Time from the start of the motion at which this waypoint should be reached. Must be zero
 for the first point of the stream and strictly increasing thereafter. Server implementations
 should validate these constraints.
      .google.protobuf.Duration time = 1 [json_name = "time"];

    • setTime

      public Arm.TrajectoryPoint.Builder setTime(com.google.protobuf.Duration.Builder builderForValue)
       Time from the start of the motion at which this waypoint should be reached. Must be zero
 for the first point of the stream and strictly increasing thereafter. Server implementations
 should validate these constraints.
      .google.protobuf.Duration time = 1 [json_name = "time"];

    • mergeTime

      public Arm.TrajectoryPoint.Builder mergeTime(com.google.protobuf.Duration value)
       Time from the start of the motion at which this waypoint should be reached. Must be zero
 for the first point of the stream and strictly increasing thereafter. Server implementations
 should validate these constraints.
      .google.protobuf.Duration time = 1 [json_name = "time"];

    • clearTime

      public Arm.TrajectoryPoint.Builder clearTime()
       Time from the start of the motion at which this waypoint should be reached. Must be zero
 for the first point of the stream and strictly increasing thereafter. Server implementations
 should validate these constraints.
      .google.protobuf.Duration time = 1 [json_name = "time"];

    • hasPositions

      public boolean hasPositions()
       Joint positions at this waypoint.
      .viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];
      Specified by:
      hasPositions in interface Arm.TrajectoryPointOrBuilder
      Returns:
      Whether the positions field is set.

    • getPositions

      public Arm.JointPositions getPositions()
       Joint positions at this waypoint.
      .viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];
      Specified by:
      getPositions in interface Arm.TrajectoryPointOrBuilder
      Returns:
      The positions.

    • setPositions

      public Arm.TrajectoryPoint.Builder setPositions(Arm.JointPositions value)
       Joint positions at this waypoint.
      .viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];

    • setPositions

      public Arm.TrajectoryPoint.Builder setPositions(Arm.JointPositions.Builder builderForValue)
       Joint positions at this waypoint.
      .viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];

    • mergePositions

      public Arm.TrajectoryPoint.Builder mergePositions(Arm.JointPositions value)
       Joint positions at this waypoint.
      .viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];

    • clearPositions

      public Arm.TrajectoryPoint.Builder clearPositions()
       Joint positions at this waypoint.
      .viam.component.arm.v1.JointPositions positions = 2 [json_name = "positions"];

    • hasConstraints

      public boolean hasConstraints()
       Optional target kinematic constraints at this waypoint.
      optional .viam.component.arm.v1.TrajectoryPoint.KinematicConstraints constraints = 3 [json_name = "constraints"];
      Specified by:
      hasConstraints in interface Arm.TrajectoryPointOrBuilder
      Returns:
      Whether the constraints field is set.

    • getConstraints

      public Arm.TrajectoryPoint.KinematicConstraints getConstraints()
       Optional target kinematic constraints at this waypoint.
      optional .viam.component.arm.v1.TrajectoryPoint.KinematicConstraints constraints = 3 [json_name = "constraints"];
      Specified by:
      getConstraints in interface Arm.TrajectoryPointOrBuilder
      Returns:
      The constraints.

    • setConstraints

      public Arm.TrajectoryPoint.Builder setConstraints(Arm.TrajectoryPoint.KinematicConstraints value)
       Optional target kinematic constraints at this waypoint.
      optional .viam.component.arm.v1.TrajectoryPoint.KinematicConstraints constraints = 3 [json_name = "constraints"];

    • setConstraints

      public Arm.TrajectoryPoint.Builder setConstraints(Arm.TrajectoryPoint.KinematicConstraints.Builder builderForValue)
       Optional target kinematic constraints at this waypoint.
      optional .viam.component.arm.v1.TrajectoryPoint.KinematicConstraints constraints = 3 [json_name = "constraints"];

    • mergeConstraints

      public Arm.TrajectoryPoint.Builder mergeConstraints(Arm.TrajectoryPoint.KinematicConstraints value)
       Optional target kinematic constraints at this waypoint.
      optional .viam.component.arm.v1.TrajectoryPoint.KinematicConstraints constraints = 3 [json_name = "constraints"];

    • clearConstraints

      public Arm.TrajectoryPoint.Builder clearConstraints()
       Optional target kinematic constraints at this waypoint.
      optional .viam.component.arm.v1.TrajectoryPoint.KinematicConstraints constraints = 3 [json_name = "constraints"];