Package com.viam.service.motion.v1

Class Motion.OrientationConstraint.Builder

java.lang.Object
com.google.protobuf.AbstractMessageLite.Builder<Motion.OrientationConstraint,Motion.OrientationConstraint.Builder>
com.google.protobuf.GeneratedMessageLite.Builder<Motion.OrientationConstraint,Motion.OrientationConstraint.Builder>
com.viam.service.motion.v1.Motion.OrientationConstraint.Builder
All Implemented Interfaces:
com.google.protobuf.MessageLite.Builder, com.google.protobuf.MessageLiteOrBuilder, Motion.OrientationConstraintOrBuilder, Cloneable
Enclosing class:
Motion.OrientationConstraint
public static final class Motion.OrientationConstraint.Builder extends com.google.protobuf.GeneratedMessageLite.Builder<Motion.OrientationConstraint,Motion.OrientationConstraint.Builder> implements Motion.OrientationConstraintOrBuilder
 OrientationConstraint specifies that the component being moved will not deviate its orientation beyond some threshold relative
 to the goal. It does not constrain the motion of components other than the `component_name` specified in motion.Move
Protobuf type viam.service.motion.v1.OrientationConstraint

  • Field Summary

    Fields inherited from class com.google.protobuf.GeneratedMessageLite.Builder

    instance

  • Method Summary

    Modifier and Type
    Method
    Description
    Motion.OrientationConstraint.Builder
    clearIgnoreTheta()
    When true, deviation is measured between orientation vectors alone, disregarding rotation about the component's own pointing axis.
    Motion.OrientationConstraint.Builder
    clearOrientationToleranceDegs()
    Max allowable orientation deviation, in degrees, while on the shortest path between start / goal states
    boolean
    getIgnoreTheta()
    When true, deviation is measured between orientation vectors alone, disregarding rotation about the component's own pointing axis.
    float
    getOrientationToleranceDegs()
    Max allowable orientation deviation, in degrees, while on the shortest path between start / goal states
    boolean
    hasIgnoreTheta()
    When true, deviation is measured between orientation vectors alone, disregarding rotation about the component's own pointing axis.
    boolean
    hasOrientationToleranceDegs()
    Max allowable orientation deviation, in degrees, while on the shortest path between start / goal states
    Motion.OrientationConstraint.Builder
    setIgnoreTheta(boolean value)
    When true, deviation is measured between orientation vectors alone, disregarding rotation about the component's own pointing axis.
    Motion.OrientationConstraint.Builder
    setOrientationToleranceDegs(float value)
    Max allowable orientation deviation, in degrees, while on the shortest path between start / goal states

    Methods inherited from class com.google.protobuf.GeneratedMessageLite.Builder

    build, buildPartial, clear, clone, copyOnWrite, copyOnWriteInternal, getDefaultInstanceForType, internalMergeFrom, isInitialized, mergeFrom, mergeFrom, mergeFrom, mergeFrom

    Methods inherited from class com.google.protobuf.AbstractMessageLite.Builder

    addAll, addAll, mergeDelimitedFrom, mergeDelimitedFrom, mergeFrom, mergeFrom, mergeFrom, mergeFrom, mergeFrom, mergeFrom, mergeFrom, mergeFrom, newUninitializedMessageException

    Methods inherited from class java.lang.Object

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

    Methods inherited from interface com.google.protobuf.MessageLiteOrBuilder

    getDefaultInstanceForType, isInitialized

  • Method Details

    • hasOrientationToleranceDegs

      public boolean hasOrientationToleranceDegs()
       Max allowable orientation deviation, in degrees, while on the shortest path between start / goal states
      optional float orientation_tolerance_degs = 1 [json_name = "orientationToleranceDegs"];
      Specified by:
      hasOrientationToleranceDegs in interface Motion.OrientationConstraintOrBuilder
      Returns:
      Whether the orientationToleranceDegs field is set.

    • getOrientationToleranceDegs

      public float getOrientationToleranceDegs()
       Max allowable orientation deviation, in degrees, while on the shortest path between start / goal states
      optional float orientation_tolerance_degs = 1 [json_name = "orientationToleranceDegs"];
      Specified by:
      getOrientationToleranceDegs in interface Motion.OrientationConstraintOrBuilder
      Returns:
      The orientationToleranceDegs.

    • setOrientationToleranceDegs

      public Motion.OrientationConstraint.Builder setOrientationToleranceDegs(float value)
       Max allowable orientation deviation, in degrees, while on the shortest path between start / goal states
      optional float orientation_tolerance_degs = 1 [json_name = "orientationToleranceDegs"];
      Parameters:
      value - The orientationToleranceDegs to set.
      Returns:
      This builder for chaining.

    • clearOrientationToleranceDegs

      public Motion.OrientationConstraint.Builder clearOrientationToleranceDegs()
       Max allowable orientation deviation, in degrees, while on the shortest path between start / goal states
      optional float orientation_tolerance_degs = 1 [json_name = "orientationToleranceDegs"];
      Returns:
      This builder for chaining.

    • hasIgnoreTheta

      public boolean hasIgnoreTheta()
       When true, deviation is measured between orientation vectors alone, disregarding rotation about the
 component's own pointing axis. Set this for payloads that are symmetric about that axis - an open
 container spills when tipped, not when spun - so the tolerance does not pin a rotation that cannot
 matter. Defaults to false, measuring the full orientation.
      optional bool ignore_theta = 2 [json_name = "ignoreTheta"];
      Specified by:
      hasIgnoreTheta in interface Motion.OrientationConstraintOrBuilder
      Returns:
      Whether the ignoreTheta field is set.

    • getIgnoreTheta

      public boolean getIgnoreTheta()
       When true, deviation is measured between orientation vectors alone, disregarding rotation about the
 component's own pointing axis. Set this for payloads that are symmetric about that axis - an open
 container spills when tipped, not when spun - so the tolerance does not pin a rotation that cannot
 matter. Defaults to false, measuring the full orientation.
      optional bool ignore_theta = 2 [json_name = "ignoreTheta"];
      Specified by:
      getIgnoreTheta in interface Motion.OrientationConstraintOrBuilder
      Returns:
      The ignoreTheta.

    • setIgnoreTheta

      public Motion.OrientationConstraint.Builder setIgnoreTheta(boolean value)
       When true, deviation is measured between orientation vectors alone, disregarding rotation about the
 component's own pointing axis. Set this for payloads that are symmetric about that axis - an open
 container spills when tipped, not when spun - so the tolerance does not pin a rotation that cannot
 matter. Defaults to false, measuring the full orientation.
      optional bool ignore_theta = 2 [json_name = "ignoreTheta"];
      Parameters:
      value - The ignoreTheta to set.
      Returns:
      This builder for chaining.

    • clearIgnoreTheta

      public Motion.OrientationConstraint.Builder clearIgnoreTheta()
       When true, deviation is measured between orientation vectors alone, disregarding rotation about the
 component's own pointing axis. Set this for payloads that are symmetric about that axis - an open
 container spills when tipped, not when spun - so the tolerance does not pin a rotation that cannot
 matter. Defaults to false, measuring the full orientation.
      optional bool ignore_theta = 2 [json_name = "ignoreTheta"];
      Returns:
      This builder for chaining.