Package com.viam.component.arm.v1

Interface Arm.TrajectoryPointOrBuilder

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

  • Method Summary

    Modifier and Type
    Method
    Description
    Arm.TrajectoryPoint.KinematicConstraints
    getConstraints()
    Optional target kinematic constraints at this waypoint.
    Arm.JointPositions
    getPositions()
    Joint positions at this waypoint.
    com.google.protobuf.Duration
    getTime()
    Time from the start of the motion at which this waypoint should be reached.
    boolean
    hasConstraints()
    Optional target kinematic constraints at this waypoint.
    boolean
    hasPositions()
    Joint positions at this waypoint.
    boolean
    hasTime()
    Time from the start of the motion at which this waypoint should be reached.

    Methods inherited from interface com.google.protobuf.MessageLiteOrBuilder

    getDefaultInstanceForType, isInitialized

  • Method Details

    • hasTime

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

    • getTime

      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"];
      Returns:
      The time.

    • hasPositions

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

    • getPositions

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

    • hasConstraints

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

    • getConstraints

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