Package com.viam.service.slam.v1

Class SLAMServiceGrpc.SLAMServiceBlockingV2Stub

java.lang.Object
io.grpc.stub.AbstractStub<SLAMServiceGrpc.SLAMServiceBlockingV2Stub>
io.grpc.stub.AbstractBlockingStub<SLAMServiceGrpc.SLAMServiceBlockingV2Stub>
com.viam.service.slam.v1.SLAMServiceGrpc.SLAMServiceBlockingV2Stub
Enclosing class:
SLAMServiceGrpc
public static final class SLAMServiceGrpc.SLAMServiceBlockingV2Stub extends io.grpc.stub.AbstractBlockingStub<SLAMServiceGrpc.SLAMServiceBlockingV2Stub>
A stub to allow clients to do synchronous rpc calls to service SLAMService. 
 A SlamService declares the gRPC contract for a slam service

  • Method Details

    • build

      protected SLAMServiceGrpc.SLAMServiceBlockingV2Stub build(io.grpc.Channel channel, io.grpc.CallOptions callOptions)
      Specified by:
      build in class io.grpc.stub.AbstractStub<SLAMServiceGrpc.SLAMServiceBlockingV2Stub>

    • getPosition

      public Slam.GetPositionResponse getPosition(Slam.GetPositionRequest request) throws io.grpc.StatusException
       GetPosition returns the current estimated position of the robot with
 respect to a returned component reference.
      Throws:
      io.grpc.StatusException

    • getPointCloudMap

      @ExperimentalApi("https://github.com/grpc/grpc-java/issues/10918") public io.grpc.stub.BlockingClientCall<?,Slam.GetPointCloudMapResponse> getPointCloudMap(Slam.GetPointCloudMapRequest request)
       GetPointCloudMap returns the latest pointcloud map available where XY is the ground
 plane and positive Z is up, following the Right Hand Rule.

    • getInternalState

      @ExperimentalApi("https://github.com/grpc/grpc-java/issues/10918") public io.grpc.stub.BlockingClientCall<?,Slam.GetInternalStateResponse> getInternalState(Slam.GetInternalStateRequest request)
       GetInternalState returns the internal map as defined by the specified slam
 algorithm required to continue mapping/localizing.
 This endpoint is not intended for end users.

    • getProperties

      public Slam.GetPropertiesResponse getProperties(Slam.GetPropertiesRequest request) throws io.grpc.StatusException
       GetProperties returns properties of the current slam service including mapping_mode
 and cloud_slam, where mapping_mode is the type of mapping/localizing being performed
 and cloud_slam is a boolean representing if this SLAM service is being run in the cloud.
      Throws:
      io.grpc.StatusException

    • doCommand

      public Common.DoCommandResponse doCommand(Common.DoCommandRequest request) throws io.grpc.StatusException
       DoCommand sends/receives arbitrary commands.
      Throws:
      io.grpc.StatusException