Class ArmClient

A gRPC-web client for the Arm component.

Implements

Arm

Index

Constructors

Properties

client name options

Accessors

Methods

doCommand getEndPosition getJointPositions isMoving moveToJointPositions moveToPosition stop

Constructors

constructor

new ArmClient(client, name, 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): Promise<StructType>
Parameters
- command: StructType
Returns Promise<StructType>
Implementation of Arm.doCommand

getEndPosition

getEndPosition(extra?): Promise<commonApi.Pose.AsObject>
Parameters
- extra: {} = {}
Returns Promise<commonApi.Pose.AsObject>
Implementation of Arm.getEndPosition

getJointPositions

getJointPositions(extra?): Promise<JointPositions>
Parameters
- extra: {} = {}
Returns Promise<JointPositions>
Implementation of Arm.getJointPositions

isMoving

isMoving(): Promise<boolean>
Returns Promise<boolean>
Implementation of Arm.isMoving

moveToJointPositions

moveToJointPositions(jointPositionsList, extra?): Promise<void>
Parameters
- jointPositionsList: number[]
- extra: {} = {}
Returns Promise<void>
Implementation of Arm.moveToJointPositions

moveToPosition

moveToPosition(pose, extra?): Promise<void>
Parameters
- pose: commonApi.Pose.AsObject
- extra: {} = {}
Returns Promise<void>
Implementation of Arm.moveToPosition

stop

stop(extra?): Promise<void>
Parameters
- extra: {} = {}
Returns Promise<void>
Implementation of Arm.stop

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