Package com.viam.service.motion.v1

Class Motion.OrientationConstraint

java.lang.Object
com.google.protobuf.AbstractMessageLite<Motion.OrientationConstraint,Motion.OrientationConstraint.Builder>
com.google.protobuf.GeneratedMessageLite<Motion.OrientationConstraint,Motion.OrientationConstraint.Builder>
com.viam.service.motion.v1.Motion.OrientationConstraint
All Implemented Interfaces:
com.google.protobuf.MessageLite, com.google.protobuf.MessageLiteOrBuilder, Motion.OrientationConstraintOrBuilder
Enclosing class:
Motion
public static final class Motion.OrientationConstraint extends com.google.protobuf.GeneratedMessageLite<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

  • Nested Class Summary

    Nested Classes
    Modifier and Type
    Class
    Description
    static final class 
    Motion.OrientationConstraint.Builder
    OrientationConstraint specifies that the component being moved will not deviate its orientation beyond some threshold relative to the goal.

    Nested classes/interfaces inherited from class com.google.protobuf.GeneratedMessageLite

    com.google.protobuf.GeneratedMessageLite.DefaultInstanceBasedParser<T extends com.google.protobuf.GeneratedMessageLite<T,?>>, com.google.protobuf.GeneratedMessageLite.ExtendableBuilder<MessageType extends com.google.protobuf.GeneratedMessageLite.ExtendableMessage<MessageType,BuilderType>,BuilderType extends com.google.protobuf.GeneratedMessageLite.ExtendableBuilder<MessageType,BuilderType>>, com.google.protobuf.GeneratedMessageLite.ExtendableMessage<MessageType extends com.google.protobuf.GeneratedMessageLite.ExtendableMessage<MessageType,BuilderType>,BuilderType extends com.google.protobuf.GeneratedMessageLite.ExtendableBuilder<MessageType,BuilderType>>, com.google.protobuf.GeneratedMessageLite.ExtendableMessageOrBuilder<MessageType extends com.google.protobuf.GeneratedMessageLite.ExtendableMessage<MessageType,BuilderType>,BuilderType extends com.google.protobuf.GeneratedMessageLite.ExtendableBuilder<MessageType,BuilderType>>, com.google.protobuf.GeneratedMessageLite.GeneratedExtension<ContainingType extends com.google.protobuf.MessageLite,Type>, com.google.protobuf.GeneratedMessageLite.MethodToInvoke, com.google.protobuf.GeneratedMessageLite.SerializedForm

    Nested classes/interfaces inherited from class com.google.protobuf.AbstractMessageLite

    com.google.protobuf.AbstractMessageLite.InternalOneOfEnum

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    static final int
    IGNORE_THETA_FIELD_NUMBER
     
    static final int
    ORIENTATION_TOLERANCE_DEGS_FIELD_NUMBER
     

    Fields inherited from class com.google.protobuf.GeneratedMessageLite

    unknownFields

    Fields inherited from class com.google.protobuf.AbstractMessageLite

    memoizedHashCode

  • Method Summary

    Modifier and Type
    Method
    Description
    protected final Object
    dynamicMethod(com.google.protobuf.GeneratedMessageLite.MethodToInvoke method, Object arg0, Object arg1)
     
    static Motion.OrientationConstraint
    getDefaultInstance()
     
    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
    static Motion.OrientationConstraint.Builder
    newBuilder()
     
    static Motion.OrientationConstraint.Builder
    newBuilder(Motion.OrientationConstraint prototype)
     
    static Motion.OrientationConstraint
    parseDelimitedFrom(InputStream input)
     
    static Motion.OrientationConstraint
    parseDelimitedFrom(InputStream input, com.google.protobuf.ExtensionRegistryLite extensionRegistry)
     
    static Motion.OrientationConstraint
    parseFrom(byte[] data)
     
    static Motion.OrientationConstraint
    parseFrom(byte[] data, com.google.protobuf.ExtensionRegistryLite extensionRegistry)
     
    static Motion.OrientationConstraint
    parseFrom(com.google.protobuf.ByteString data)
     
    static Motion.OrientationConstraint
    parseFrom(com.google.protobuf.ByteString data, com.google.protobuf.ExtensionRegistryLite extensionRegistry)
     
    static Motion.OrientationConstraint
    parseFrom(com.google.protobuf.CodedInputStream input)
     
    static Motion.OrientationConstraint
    parseFrom(com.google.protobuf.CodedInputStream input, com.google.protobuf.ExtensionRegistryLite extensionRegistry)
     
    static Motion.OrientationConstraint
    parseFrom(InputStream input)
     
    static Motion.OrientationConstraint
    parseFrom(InputStream input, com.google.protobuf.ExtensionRegistryLite extensionRegistry)
     
    static Motion.OrientationConstraint
    parseFrom(ByteBuffer data)
     
    static Motion.OrientationConstraint
    parseFrom(ByteBuffer data, com.google.protobuf.ExtensionRegistryLite extensionRegistry)
     
    static com.google.protobuf.Parser<Motion.OrientationConstraint>
    parser()
     

    Methods inherited from class com.google.protobuf.GeneratedMessageLite

    createBuilder, createBuilder, emptyBooleanList, emptyDoubleList, emptyFloatList, emptyIntList, emptyLongList, emptyProtobufList, equals, getDefaultInstanceForType, getParserForType, getSerializedSize, hashCode, isInitialized, makeImmutable, mergeLengthDelimitedField, mergeUnknownFields, mergeVarintField, mutableCopy, mutableCopy, mutableCopy, mutableCopy, mutableCopy, mutableCopy, newBuilderForType, newMessageInfo, newRepeatedGeneratedExtension, newSingularGeneratedExtension, parseDelimitedFrom, parseDelimitedFrom, parseFrom, parseFrom, parseFrom, parseFrom, parseFrom, parseFrom, parseFrom, parseFrom, parseFrom, parseFrom, parsePartialFrom, parseUnknownField, registerDefaultInstance, toBuilder, toString, writeTo

    Methods inherited from class com.google.protobuf.AbstractMessageLite

    addAll, checkByteStringIsUtf8, toByteArray, toByteString, writeDelimitedTo, writeTo

    Methods inherited from class java.lang.Object

    clone, finalize, getClass, notify, notifyAll, wait, wait, wait

    Methods inherited from interface com.google.protobuf.MessageLiteOrBuilder

    getDefaultInstanceForType, isInitialized

  • Field Details

    • ORIENTATION_TOLERANCE_DEGS_FIELD_NUMBER

      public static final int ORIENTATION_TOLERANCE_DEGS_FIELD_NUMBER
      See Also:

    • IGNORE_THETA_FIELD_NUMBER

      public static final int IGNORE_THETA_FIELD_NUMBER
      See Also:

  • 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.

    • 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.

    • parseFrom

      public static Motion.OrientationConstraint parseFrom(ByteBuffer data) throws com.google.protobuf.InvalidProtocolBufferException
      Throws:
      com.google.protobuf.InvalidProtocolBufferException

    • parseFrom

      public static Motion.OrientationConstraint parseFrom(ByteBuffer data, com.google.protobuf.ExtensionRegistryLite extensionRegistry) throws com.google.protobuf.InvalidProtocolBufferException
      Throws:
      com.google.protobuf.InvalidProtocolBufferException

    • parseFrom

      public static Motion.OrientationConstraint parseFrom(com.google.protobuf.ByteString data) throws com.google.protobuf.InvalidProtocolBufferException
      Throws:
      com.google.protobuf.InvalidProtocolBufferException

    • parseFrom

      public static Motion.OrientationConstraint parseFrom(com.google.protobuf.ByteString data, com.google.protobuf.ExtensionRegistryLite extensionRegistry) throws com.google.protobuf.InvalidProtocolBufferException
      Throws:
      com.google.protobuf.InvalidProtocolBufferException

    • parseFrom

      public static Motion.OrientationConstraint parseFrom(byte[] data) throws com.google.protobuf.InvalidProtocolBufferException
      Throws:
      com.google.protobuf.InvalidProtocolBufferException

    • parseFrom

      public static Motion.OrientationConstraint parseFrom(byte[] data, com.google.protobuf.ExtensionRegistryLite extensionRegistry) throws com.google.protobuf.InvalidProtocolBufferException
      Throws:
      com.google.protobuf.InvalidProtocolBufferException

    • parseFrom

      public static Motion.OrientationConstraint parseFrom(InputStream input) throws IOException
      Throws:
      IOException

    • parseFrom

      public static Motion.OrientationConstraint parseFrom(InputStream input, com.google.protobuf.ExtensionRegistryLite extensionRegistry) throws IOException
      Throws:
      IOException

    • parseDelimitedFrom

      public static Motion.OrientationConstraint parseDelimitedFrom(InputStream input) throws IOException
      Throws:
      IOException

    • parseDelimitedFrom

      public static Motion.OrientationConstraint parseDelimitedFrom(InputStream input, com.google.protobuf.ExtensionRegistryLite extensionRegistry) throws IOException
      Throws:
      IOException

    • parseFrom

      public static Motion.OrientationConstraint parseFrom(com.google.protobuf.CodedInputStream input) throws IOException
      Throws:
      IOException

    • parseFrom

      public static Motion.OrientationConstraint parseFrom(com.google.protobuf.CodedInputStream input, com.google.protobuf.ExtensionRegistryLite extensionRegistry) throws IOException
      Throws:
      IOException

    • newBuilder

      public static Motion.OrientationConstraint.Builder newBuilder()

    • newBuilder

      public static Motion.OrientationConstraint.Builder newBuilder(Motion.OrientationConstraint prototype)

    • dynamicMethod

      protected final Object dynamicMethod(com.google.protobuf.GeneratedMessageLite.MethodToInvoke method, Object arg0, Object arg1)
      Specified by:
      dynamicMethod in class com.google.protobuf.GeneratedMessageLite<Motion.OrientationConstraint,Motion.OrientationConstraint.Builder>

    • getDefaultInstance

      public static Motion.OrientationConstraint getDefaultInstance()

    • parser

      public static com.google.protobuf.Parser<Motion.OrientationConstraint> parser()