Class MotionClient

A gRPC-web client for a Motion service.

Implements

Motion

Index

Constructors

constructor

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

Properties

`Private` client

client: MotionServiceClient

`Private` `Readonly` name

name: string

`Private` `Readonly` options

options: Options

Accessors

`Private` service

get service(): MotionServiceClient
Returns MotionServiceClient

Methods

doCommand

doCommand(command): Promise<StructType>
Parameters
- command: StructType
Returns Promise<StructType>
Implementation of Motion.doCommand

getPlan

getPlan(componentName, lastPlanOnly?, executionId?, extra?): Promise<motionApi.GetPlanResponse.AsObject>
Parameters
- componentName: commonApi.ResourceName.AsObject
- Optional lastPlanOnly: boolean
- Optional executionId: string
- extra: {} = {}
Returns Promise<motionApi.GetPlanResponse.AsObject>
Implementation of Motion.getPlan

getPose

getPose(componentName, destinationFrame, supplementalTransforms, extra?): Promise<commonApi.PoseInFrame.AsObject>
Parameters
- componentName: commonApi.ResourceName.AsObject
- destinationFrame: string
- supplementalTransforms: commonApi.Transform.AsObject[]
- extra: {} = {}
Returns Promise<commonApi.PoseInFrame.AsObject>
Implementation of Motion.getPose

listPlanStatuses

listPlanStatuses(onlyActivePlans?, extra?): Promise<motionApi.ListPlanStatusesResponse.AsObject>
Parameters
- Optional onlyActivePlans: boolean
- extra: {} = {}
Returns Promise<motionApi.ListPlanStatusesResponse.AsObject>
Implementation of Motion.listPlanStatuses

move

move(destination, componentName, worldState?, constraints?, extra?): Promise<boolean>
Parameters
- destination: commonApi.PoseInFrame.AsObject
- componentName: commonApi.ResourceName.AsObject
- Optional worldState: commonApi.WorldState.AsObject
- Optional constraints: motionApi.Constraints.AsObject
- extra: {} = {}
Returns Promise<boolean>
Implementation of Motion.move

moveOnGlobe

moveOnGlobe(destination, componentName, movementSensorName, heading?, obstaclesList?, motionConfig?, extra?): Promise<string>
Parameters
- destination: commonApi.GeoPoint.AsObject
- componentName: commonApi.ResourceName.AsObject
- movementSensorName: commonApi.ResourceName.AsObject
- Optional heading: number
- Optional obstaclesList: commonApi.GeoObstacle.AsObject[]
- Optional motionConfig: Partial<motionApi.MotionConfiguration.AsObject>
- extra: {} = {}
Returns Promise<string>
Implementation of Motion.moveOnGlobe

moveOnMap

moveOnMap(destination, componentName, slamServiceName, motionConfig?, obstacles?, extra?): Promise<string>
Parameters
- destination: commonApi.Pose.AsObject
- componentName: commonApi.ResourceName.AsObject
- slamServiceName: commonApi.ResourceName.AsObject
- Optional motionConfig: Partial<motionApi.MotionConfiguration.AsObject>
- Optional obstacles: commonApi.Geometry.AsObject[]
- extra: {} = {}
Returns Promise<string>
Implementation of Motion.moveOnMap

stopPlan

stopPlan(componentName, extra?): Promise<null>
Parameters
- componentName: commonApi.ResourceName.AsObject
- extra: {} = {}
Returns Promise<null>
Implementation of Motion.stopPlan

Class MotionClient

Implements

Index

Constructors

Properties

Accessors

Methods

Constructors

constructor

Parameters

Returns MotionClient

Properties

Private client

Private Readonly name

Private Readonly options

Accessors

Private service

Returns MotionServiceClient

Methods

doCommand

Parameters

Returns Promise<StructType>

getPlan

Parameters

Returns Promise<motionApi.GetPlanResponse.AsObject>

getPose

Parameters

Returns Promise<commonApi.PoseInFrame.AsObject>

listPlanStatuses

Parameters

Returns Promise<motionApi.ListPlanStatusesResponse.AsObject>

move

Parameters

Returns Promise<boolean>

moveOnGlobe

Parameters

Returns Promise<string>

moveOnMap

Parameters

Returns Promise<string>

stopPlan

Parameters

Returns Promise<null>

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`Private` client

`Private` `Readonly` name

`Private` `Readonly` options

`Private` service