Package com.viam.service.motion.v1

Class Motion.MoveRequest.Builder

java.lang.Object
com.google.protobuf.AbstractMessageLite.Builder<MessageType,BuilderType>
com.google.protobuf.GeneratedMessageLite.Builder<Motion.MoveRequest,Motion.MoveRequest.Builder>
com.viam.service.motion.v1.Motion.MoveRequest.Builder
All Implemented Interfaces:
com.google.protobuf.MessageLite.Builder, com.google.protobuf.MessageLiteOrBuilder, Motion.MoveRequestOrBuilder, Cloneable
Enclosing class:
Motion.MoveRequest
public static final class Motion.MoveRequest.Builder extends com.google.protobuf.GeneratedMessageLite.Builder<Motion.MoveRequest,Motion.MoveRequest.Builder> implements Motion.MoveRequestOrBuilder
 Moves any component on the robot to a specified destination which can be from the reference frame of any other component on the robot.
Protobuf type viam.service.motion.v1.MoveRequest

  • Method Details

    • getName

      public String getName()
       Name of the motion service
      string name = 1 [json_name = "name"];
      Specified by:
      getName in interface Motion.MoveRequestOrBuilder
      Returns:
      The name.

    • getNameBytes

      public com.google.protobuf.ByteString getNameBytes()
       Name of the motion service
      string name = 1 [json_name = "name"];
      Specified by:
      getNameBytes in interface Motion.MoveRequestOrBuilder
      Returns:
      The bytes for name.

    • setName

      public Motion.MoveRequest.Builder setName(String value)
       Name of the motion service
      string name = 1 [json_name = "name"];
      Parameters:
      value - The name to set.
      Returns:
      This builder for chaining.

    • clearName

      public Motion.MoveRequest.Builder clearName()
       Name of the motion service
      string name = 1 [json_name = "name"];
      Returns:
      This builder for chaining.

    • setNameBytes

      public Motion.MoveRequest.Builder setNameBytes(com.google.protobuf.ByteString value)
       Name of the motion service
      string name = 1 [json_name = "name"];
      Parameters:
      value - The bytes for name to set.
      Returns:
      This builder for chaining.

    • hasDestination

      public boolean hasDestination()
       Destination to move to, which can a pose in the reference frame of any frame in the robot's frame system
      .viam.common.v1.PoseInFrame destination = 2 [json_name = "destination"];
      Specified by:
      hasDestination in interface Motion.MoveRequestOrBuilder
      Returns:
      Whether the destination field is set.

    • getDestination

      public Common.PoseInFrame getDestination()
       Destination to move to, which can a pose in the reference frame of any frame in the robot's frame system
      .viam.common.v1.PoseInFrame destination = 2 [json_name = "destination"];
      Specified by:
      getDestination in interface Motion.MoveRequestOrBuilder
      Returns:
      The destination.

    • setDestination

      public Motion.MoveRequest.Builder setDestination(Common.PoseInFrame value)
       Destination to move to, which can a pose in the reference frame of any frame in the robot's frame system
      .viam.common.v1.PoseInFrame destination = 2 [json_name = "destination"];

    • setDestination

      public Motion.MoveRequest.Builder setDestination(Common.PoseInFrame.Builder builderForValue)
       Destination to move to, which can a pose in the reference frame of any frame in the robot's frame system
      .viam.common.v1.PoseInFrame destination = 2 [json_name = "destination"];

    • mergeDestination

      public Motion.MoveRequest.Builder mergeDestination(Common.PoseInFrame value)
       Destination to move to, which can a pose in the reference frame of any frame in the robot's frame system
      .viam.common.v1.PoseInFrame destination = 2 [json_name = "destination"];

    • clearDestination

      public Motion.MoveRequest.Builder clearDestination()
       Destination to move to, which can a pose in the reference frame of any frame in the robot's frame system
      .viam.common.v1.PoseInFrame destination = 2 [json_name = "destination"];

    • hasComponentName

      public boolean hasComponentName()
       Component on the robot to move to the specified destination
      .viam.common.v1.ResourceName component_name = 3 [json_name = "componentName"];
      Specified by:
      hasComponentName in interface Motion.MoveRequestOrBuilder
      Returns:
      Whether the componentName field is set.

    • getComponentName

      public Common.ResourceName getComponentName()
       Component on the robot to move to the specified destination
      .viam.common.v1.ResourceName component_name = 3 [json_name = "componentName"];
      Specified by:
      getComponentName in interface Motion.MoveRequestOrBuilder
      Returns:
      The componentName.

    • setComponentName

      public Motion.MoveRequest.Builder setComponentName(Common.ResourceName value)
       Component on the robot to move to the specified destination
      .viam.common.v1.ResourceName component_name = 3 [json_name = "componentName"];

    • setComponentName

      public Motion.MoveRequest.Builder setComponentName(Common.ResourceName.Builder builderForValue)
       Component on the robot to move to the specified destination
      .viam.common.v1.ResourceName component_name = 3 [json_name = "componentName"];

    • mergeComponentName

      public Motion.MoveRequest.Builder mergeComponentName(Common.ResourceName value)
       Component on the robot to move to the specified destination
      .viam.common.v1.ResourceName component_name = 3 [json_name = "componentName"];

    • clearComponentName

      public Motion.MoveRequest.Builder clearComponentName()
       Component on the robot to move to the specified destination
      .viam.common.v1.ResourceName component_name = 3 [json_name = "componentName"];

    • hasWorldState

      public boolean hasWorldState()
       Avoid obstacles by specifying their geometries in the world state
 Augment the frame system of the robot by specifying additional transforms to add to it for the duration of the Move
      optional .viam.common.v1.WorldState world_state = 4 [json_name = "worldState"];
      Specified by:
      hasWorldState in interface Motion.MoveRequestOrBuilder
      Returns:
      Whether the worldState field is set.

    • getWorldState

      public Common.WorldState getWorldState()
       Avoid obstacles by specifying their geometries in the world state
 Augment the frame system of the robot by specifying additional transforms to add to it for the duration of the Move
      optional .viam.common.v1.WorldState world_state = 4 [json_name = "worldState"];
      Specified by:
      getWorldState in interface Motion.MoveRequestOrBuilder
      Returns:
      The worldState.

    • setWorldState

      public Motion.MoveRequest.Builder setWorldState(Common.WorldState value)
       Avoid obstacles by specifying their geometries in the world state
 Augment the frame system of the robot by specifying additional transforms to add to it for the duration of the Move
      optional .viam.common.v1.WorldState world_state = 4 [json_name = "worldState"];

    • setWorldState

      public Motion.MoveRequest.Builder setWorldState(Common.WorldState.Builder builderForValue)
       Avoid obstacles by specifying their geometries in the world state
 Augment the frame system of the robot by specifying additional transforms to add to it for the duration of the Move
      optional .viam.common.v1.WorldState world_state = 4 [json_name = "worldState"];

    • mergeWorldState

      public Motion.MoveRequest.Builder mergeWorldState(Common.WorldState value)
       Avoid obstacles by specifying their geometries in the world state
 Augment the frame system of the robot by specifying additional transforms to add to it for the duration of the Move
      optional .viam.common.v1.WorldState world_state = 4 [json_name = "worldState"];

    • clearWorldState

      public Motion.MoveRequest.Builder clearWorldState()
       Avoid obstacles by specifying their geometries in the world state
 Augment the frame system of the robot by specifying additional transforms to add to it for the duration of the Move
      optional .viam.common.v1.WorldState world_state = 4 [json_name = "worldState"];

    • hasConstraints

      public boolean hasConstraints()
       Constrain the way the robot will move
      optional .viam.service.motion.v1.Constraints constraints = 5 [json_name = "constraints"];
      Specified by:
      hasConstraints in interface Motion.MoveRequestOrBuilder
      Returns:
      Whether the constraints field is set.

    • getConstraints

      public Motion.Constraints getConstraints()
       Constrain the way the robot will move
      optional .viam.service.motion.v1.Constraints constraints = 5 [json_name = "constraints"];
      Specified by:
      getConstraints in interface Motion.MoveRequestOrBuilder
      Returns:
      The constraints.

    • setConstraints

      public Motion.MoveRequest.Builder setConstraints(Motion.Constraints value)
       Constrain the way the robot will move
      optional .viam.service.motion.v1.Constraints constraints = 5 [json_name = "constraints"];

    • setConstraints

      public Motion.MoveRequest.Builder setConstraints(Motion.Constraints.Builder builderForValue)
       Constrain the way the robot will move
      optional .viam.service.motion.v1.Constraints constraints = 5 [json_name = "constraints"];

    • mergeConstraints

      public Motion.MoveRequest.Builder mergeConstraints(Motion.Constraints value)
       Constrain the way the robot will move
      optional .viam.service.motion.v1.Constraints constraints = 5 [json_name = "constraints"];

    • clearConstraints

      public Motion.MoveRequest.Builder clearConstraints()
       Constrain the way the robot will move
      optional .viam.service.motion.v1.Constraints constraints = 5 [json_name = "constraints"];

    • hasExtra

      public boolean hasExtra()
       Additional arguments to the method
      .google.protobuf.Struct extra = 99 [json_name = "extra"];
      Specified by:
      hasExtra in interface Motion.MoveRequestOrBuilder
      Returns:
      Whether the extra field is set.

    • getExtra

      public com.google.protobuf.Struct getExtra()
       Additional arguments to the method
      .google.protobuf.Struct extra = 99 [json_name = "extra"];
      Specified by:
      getExtra in interface Motion.MoveRequestOrBuilder
      Returns:
      The extra.

    • setExtra

      public Motion.MoveRequest.Builder setExtra(com.google.protobuf.Struct value)
       Additional arguments to the method
      .google.protobuf.Struct extra = 99 [json_name = "extra"];

    • setExtra

      public Motion.MoveRequest.Builder setExtra(com.google.protobuf.Struct.Builder builderForValue)
       Additional arguments to the method
      .google.protobuf.Struct extra = 99 [json_name = "extra"];

    • mergeExtra

      public Motion.MoveRequest.Builder mergeExtra(com.google.protobuf.Struct value)
       Additional arguments to the method
      .google.protobuf.Struct extra = 99 [json_name = "extra"];

    • clearExtra

      public Motion.MoveRequest.Builder clearExtra()
       Additional arguments to the method
      .google.protobuf.Struct extra = 99 [json_name = "extra"];