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

Class PoseTrackerRPCClient

java.lang.Object

com.viam.sdk.core.resource.Resource

com.viam.sdk.core.component.Component

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

com.viam.sdk.core.component.posetracker.PoseTrackerRPCClient

public class PoseTrackerRPCClient
extends PoseTracker

Nested Class Summary

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

Resource.Reconfigurable, Resource.Stoppable

Field Summary

Fields inherited from class com.viam.sdk.core.component.posetracker.PoseTracker

SUBTYPE

Constructor Summary

Constructors

Constructor	Description
PoseTrackerRPCClient(String name, Channel chan)

Method Summary

Modifier and Type	Method	Description
com.google.protobuf.Struct	doCommand(Map<String,com.google.protobuf.Value> command)	Send/Receive arbitrary commands to the Resource
List<Common.Geometry>	getGeometries(Optional<com.google.protobuf.Struct> extra)	Get all geometries associated with the Component, in their current configuration, in the frame of the Component.
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.

Methods inherited from class com.viam.sdk.core.component.posetracker.PoseTracker

fromRobot, getPoses, named

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

close, createStatus, getName, getSubtype, named

Methods inherited from class java.lang.Object

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

Constructor Details

PoseTrackerRPCClient

public PoseTrackerRPCClient(String name,
 Channel chan)

Method Details

doCommand

public com.google.protobuf.Struct doCommand(Map<String,com.google.protobuf.Value> command)

Description copied from class: Resource

Send/Receive arbitrary commands to the Resource

Overrides:

doCommand in class Resource

Parameters:

command - the command to execute

Returns:

result of the executed command

getPoses

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

Description copied from class: PoseTracker

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

Specified by:

getPoses in class PoseTracker

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

getGeometries

public List<Common.Geometry> getGeometries(Optional<com.google.protobuf.Struct> extra)

Description copied from class: Component

Get all geometries associated with the Component, in their current configuration, in the frame of the Component.

Overrides:

getGeometries in class Component

Returns:

the geometries associated with the Component