Package com.viam.component.arm.v1

Interface Arm.TrajectoryPoint.KinematicConstraintsOrBuilder

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

  • Method Summary

    Modifier and Type
    Method
    Description
    Arm.JointAccelerations
    getAccelerations()
    Optional target joint accelerations at this waypoint.
    Arm.JointVelocities
    getVelocities()
    Target joint velocities at this waypoint.
    boolean
    hasAccelerations()
    Optional target joint accelerations at this waypoint.
    boolean
    hasVelocities()
    Target joint velocities at this waypoint.

    Methods inherited from interface com.google.protobuf.MessageLiteOrBuilder

    getDefaultInstanceForType, isInitialized

  • Method Details

    • hasVelocities

      boolean hasVelocities()
       Target joint velocities at this waypoint. If provided, the first point of the stream (the t=0 sample)
 must have zero velocity. Server implementations should validate this constraint.
      .viam.component.arm.v1.JointVelocities velocities = 1 [json_name = "velocities"];
      Returns:
      Whether the velocities field is set.

    • getVelocities

      Arm.JointVelocities getVelocities()
       Target joint velocities at this waypoint. If provided, the first point of the stream (the t=0 sample)
 must have zero velocity. Server implementations should validate this constraint.
      .viam.component.arm.v1.JointVelocities velocities = 1 [json_name = "velocities"];
      Returns:
      The velocities.

    • hasAccelerations

      boolean hasAccelerations()
       Optional target joint accelerations at this waypoint.
      optional .viam.component.arm.v1.JointAccelerations accelerations = 2 [json_name = "accelerations"];
      Returns:
      Whether the accelerations field is set.

    • getAccelerations

      Arm.JointAccelerations getAccelerations()
       Optional target joint accelerations at this waypoint.
      optional .viam.component.arm.v1.JointAccelerations accelerations = 2 [json_name = "accelerations"];
      Returns:
      The accelerations.