Class ArmClient

A gRPC-web client for the Arm component.

Hierarchy

ArmClient

Implements

Arm

Index

Constructors

Properties

client name options

Accessors

Methods

doCommand getEndPosition getJointPositions isMoving moveToJointPositions moveToPosition stop

Constructors

constructor

new ArmClient(client: RobotClient, name: string, options?: Options): ArmClient
Parameters
- client: RobotClient
- name: string
- options: Options = {}
Returns ArmClient

Properties

`Private` client

client: ArmServiceClient

`Private` `Readonly` name

name: string

`Private` `Readonly` options

options: Options

Accessors

`Private` ArmService

get ArmService(): ArmServiceClient
Returns ArmServiceClient

Methods

doCommand

doCommand(command: StructType): Promise<StructType>
Send/Receive arbitrary commands to the resource.
Parameters
- command: StructType
  
  The command to execute.
Returns Promise<StructType>

Implementation of Arm.doCommand

getEndPosition

getEndPosition(extra?: {}): Promise<commonApi.Pose.AsObject>
Get the position of the end of the arm expressed as a pose
Parameters
- extra: {} = {}
Returns Promise<commonApi.Pose.AsObject>

Implementation of Arm.getEndPosition

getJointPositions

getJointPositions(extra?: {}): Promise<JointPositions>
Gets the current position of each joint.
Parameters
- extra: {} = {}
Returns Promise<JointPositions>

Implementation of Arm.getJointPositions

isMoving

isMoving(): Promise<boolean>
Get if the arm is currently moving.

Returns Promise<boolean>

Implementation of Arm.isMoving

moveToJointPositions

moveToJointPositions(jointPositionsList: number[], extra?: {}): Promise<void>
Move each joint of the arm based on the angles on the joint poisitons. parameter
Parameters
- jointPositionsList: number[]
  
  List of angles (0-360) to move each joint to.
- extra: {} = {}
Returns Promise<void>

Implementation of Arm.moveToJointPositions

moveToPosition

moveToPosition(pose: commonApi.Pose.AsObject, extra?: {}): Promise<void>
Move the end of the arm to the pose.
Parameters
- pose: commonApi.Pose.AsObject
  
  The destination pose for the arm.
- extra: {} = {}
Returns Promise<void>

Implementation of Arm.moveToPosition

stop

stop(extra?: {}): Promise<void>
Stops the motion of the arm.
Parameters
- extra: {} = {}
Returns Promise<void>

Implementation of Arm.stop

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