Package com.viam.service.motion.v1

Interface Motion.MotionConfigurationOrBuilder

All Superinterfaces:
com.google.protobuf.MessageLiteOrBuilder
All Known Implementing Classes:
Motion.MotionConfiguration, Motion.MotionConfiguration.Builder
Enclosing class:
Motion
public static interface Motion.MotionConfigurationOrBuilder extends com.google.protobuf.MessageLiteOrBuilder

  • Method Details

    • getObstacleDetectorsList

      List<Motion.ObstacleDetector> getObstacleDetectorsList()
       The ObstacleDetectors that will be used for transient obstacle avoidance
      repeated .viam.service.motion.v1.ObstacleDetector obstacle_detectors = 1 [json_name = "obstacleDetectors"];

    • getObstacleDetectors

      Motion.ObstacleDetector getObstacleDetectors(int index)
       The ObstacleDetectors that will be used for transient obstacle avoidance
      repeated .viam.service.motion.v1.ObstacleDetector obstacle_detectors = 1 [json_name = "obstacleDetectors"];

    • getObstacleDetectorsCount

      int getObstacleDetectorsCount()
       The ObstacleDetectors that will be used for transient obstacle avoidance
      repeated .viam.service.motion.v1.ObstacleDetector obstacle_detectors = 1 [json_name = "obstacleDetectors"];

    • hasPositionPollingFrequencyHz

      boolean hasPositionPollingFrequencyHz()
       Sets the frequency to poll for the position of the robot
      optional double position_polling_frequency_hz = 2 [json_name = "positionPollingFrequencyHz"];
      Returns:
      Whether the positionPollingFrequencyHz field is set.

    • getPositionPollingFrequencyHz

      double getPositionPollingFrequencyHz()
       Sets the frequency to poll for the position of the robot
      optional double position_polling_frequency_hz = 2 [json_name = "positionPollingFrequencyHz"];
      Returns:
      The positionPollingFrequencyHz.

    • hasObstaclePollingFrequencyHz

      boolean hasObstaclePollingFrequencyHz()
       Sets the frequency to poll the vision service(s) for new obstacles
      optional double obstacle_polling_frequency_hz = 3 [json_name = "obstaclePollingFrequencyHz"];
      Returns:
      Whether the obstaclePollingFrequencyHz field is set.

    • getObstaclePollingFrequencyHz

      double getObstaclePollingFrequencyHz()
       Sets the frequency to poll the vision service(s) for new obstacles
      optional double obstacle_polling_frequency_hz = 3 [json_name = "obstaclePollingFrequencyHz"];
      Returns:
      The obstaclePollingFrequencyHz.

    • hasPlanDeviationM

      boolean hasPlanDeviationM()
       Sets the distance in meters that a robot is allowed to deviate from the motion plan
      optional double plan_deviation_m = 4 [json_name = "planDeviationM"];
      Returns:
      Whether the planDeviationM field is set.

    • getPlanDeviationM

      double getPlanDeviationM()
       Sets the distance in meters that a robot is allowed to deviate from the motion plan
      optional double plan_deviation_m = 4 [json_name = "planDeviationM"];
      Returns:
      The planDeviationM.

    • hasLinearMPerSec

      boolean hasLinearMPerSec()
       Optional linear velocity to target when moving
      optional double linear_m_per_sec = 5 [json_name = "linearMPerSec"];
      Returns:
      Whether the linearMPerSec field is set.

    • getLinearMPerSec

      double getLinearMPerSec()
       Optional linear velocity to target when moving
      optional double linear_m_per_sec = 5 [json_name = "linearMPerSec"];
      Returns:
      The linearMPerSec.

    • hasAngularDegsPerSec

      boolean hasAngularDegsPerSec()
       Optional angular velocity to target when turning
      optional double angular_degs_per_sec = 6 [json_name = "angularDegsPerSec"];
      Returns:
      Whether the angularDegsPerSec field is set.

    • getAngularDegsPerSec

      double getAngularDegsPerSec()
       Optional angular velocity to target when turning
      optional double angular_degs_per_sec = 6 [json_name = "angularDegsPerSec"];
      Returns:
      The angularDegsPerSec.