Package com.viam.sdk.core.component.posetracker

Class PoseTracker

java.lang.Object

com.viam.sdk.core.resource.Resource

com.viam.sdk.core.component.Component

com.viam.sdk.core.component.posetracker.PoseTracker

Direct Known Subclasses:

PoseTrackerRPCClient

public abstract class PoseTracker
extends Component

PoseTracker represents a physical pose or motion tracking device.

Nested Class Summary

Nested classes/interfaces inherited from class com.viam.sdk.core.resource.Resource

Resource.Reconfigurable, Resource.Stoppable

Field Summary

Fields

Modifier and Type	Field	Description
static final Subtype	SUBTYPE

Constructor Summary

Constructors

Constructor	Description
PoseTracker(String name)

Method Summary

Modifier and Type	Method	Description
static PoseTracker	fromRobot(RobotClient robot, String name)	Get the component with the provided name from the provided robot.
Map<String,Common.PoseInFrame>	getPoses(List<String> bodyNames)	Returns the current pose of each body tracked by the pose tracker.
abstract Map<String,Common.PoseInFrame>	getPoses(List<String> bodyNames, com.google.protobuf.Struct extra)	Returns the current pose of each body tracked by the pose tracker.
static Common.ResourceName	named(String name)	Get the ResourceName of the component

Methods inherited from class com.viam.sdk.core.component.Component

getGeometries

Methods inherited from class com.viam.sdk.core.resource.Resource

close, createStatus, doCommand, getName, getSubtype, named

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

SUBTYPE

public static final Subtype SUBTYPE

Constructor Details

PoseTracker

public PoseTracker(String name)

Method Details

named

public static Common.ResourceName named(String name)

Get the ResourceName of the component

Parameters:

name - the name of the component

Returns:

the component's ResourceName

fromRobot

public static PoseTracker fromRobot(RobotClient robot,
 String name)

Get the component with the provided name from the provided robot.

Parameters:

robot - the RobotClient

name - the name of the component

Returns:

the component

getPoses

public abstract Map<String,Common.PoseInFrame> getPoses(List<String> bodyNames,
 com.google.protobuf.Struct extra)

Returns the current pose of each body tracked by the pose tracker.

Parameters:

bodyNames - Names of the bodies whose poses are being requested. In the event this parameter is not supplied or is an empty list, all available poses are returned.

Returns:

the mapping of each body name to the pose representing the center of the body

getPoses

public Map<String,Common.PoseInFrame> getPoses(List<String> bodyNames)

Returns the current pose of each body tracked by the pose tracker.

Parameters:

bodyNames - Names of the bodies whose poses are being requested. In the event this parameter is not supplied or is an empty list, all available poses are returned.

Returns:

the mapping of each body name to the pose representing the center of the body