Package com.viam.service.motion.v1

Interface Motion.OrientationConstraintOrBuilder

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

  • Method Summary

    Modifier and Type
    Method
    Description
    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

    Methods inherited from interface com.google.protobuf.MessageLiteOrBuilder

    getDefaultInstanceForType, isInitialized

  • Method Details

    • hasOrientationToleranceDegs

      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"];
      Returns:
      Whether the orientationToleranceDegs field is set.

    • getOrientationToleranceDegs

      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"];
      Returns:
      The orientationToleranceDegs.

    • hasIgnoreTheta

      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"];
      Returns:
      Whether the ignoreTheta field is set.

    • getIgnoreTheta

      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"];
      Returns:
      The ignoreTheta.