Class NavigationClient

constructor

• new NavigationClient(
      client: Client,
      name: string,
      options?: Options,
  ): NavigationClient

  Parameters

  • client: Client
  • name: string
  • options: Options = {}

  Returns NavigationClient

callOptions

Readonlyname

addWayPoint

• addWayPoint(
      location: GeoPoint,
      extra?: {},
      callOptions?: CallOptions,
  ): Promise<void>

  Add a waypoint to the service's data storage.

  Parameters

  • location: GeoPoint

    A waypoint described by latitude and longitude values.

  • extra: {} = {}
  • callOptions: CallOptions = ...

  Returns Promise<void>

  Example

  const navigation = new VIAM.NavigationClient(machine, 'my_navigation');
  
  const location = { latitude: 40.7128, longitude: -74.006 };
  await navigation.addWayPoint(location);
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  For more information, see Navigation API.

doCommand

• doCommand(
      command: Struct | Record<string, JsonValue>,
      callOptions?: CallOptions,
  ): Promise<JsonValue>

  Send/Receive arbitrary commands to the resource.

  Parameters

  • command: Struct | Record<string, JsonValue>

    The command to execute. Accepts either a Struct or a plain object, which will be converted automatically.

  • callOptions: CallOptions = ...

  Returns Promise<JsonValue>

  Example

  // Plain object (recommended)
  const result = await resource.doCommand({
    myCommand: { key: 'value' },
  });
  
  // Struct (still supported)
  import { Struct } from '@viamrobotics/sdk';
  
  const result = await resource.doCommand(Struct.fromJson({ myCommand: { key: 'value' } }));
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getLocation

• getLocation(
      extra?: {},
      callOptions?: CallOptions,
  ): Promise<navigationApi.GetLocationResponse>

  Get the current location of the robot.

  Parameters

  • extra: {} = {}
  • callOptions: CallOptions = ...

  Returns Promise<navigationApi.GetLocationResponse>

  Example

  const navigation = new VIAM.NavigationClient(machine, 'my_navigation');
  
  const location = await navigation.getLocation();
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  For more information, see Navigation API.

getMode

• getMode(extra?: {}, callOptions?: CallOptions): Promise<navigationApi.Mode>

  Get the mode the robot is operating in.

  Parameters

  • extra: {} = {}
  • callOptions: CallOptions = ...

  Returns Promise<navigationApi.Mode>

  Example

  const navigation = new VIAM.NavigationClient(machine, 'my_navigation');
  
  const mode = await navigation.getMode();
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  For more information, see Navigation API.

getObstacles

• getObstacles(
      extra?: {},
      callOptions?: CallOptions,
  ): Promise<commonApi.GeoGeometry[]>

  Get a list of obstacles.

  Parameters

  • extra: {} = {}
  • callOptions: CallOptions = ...

  Returns Promise<commonApi.GeoGeometry[]>

  Example

  const navigation = new VIAM.NavigationClient(machine, 'my_navigation');
  
  const obstacles = await navigation.getObstacles();
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  For more information, see Navigation API.

getPaths

• getPaths(extra?: {}, callOptions?: CallOptions): Promise<navigationApi.Path[]>

  Gets the list of paths known to the navigation service.

  Parameters

  • extra: {} = {}
  • callOptions: CallOptions = ...

  Returns Promise<navigationApi.Path[]>

  Example

  const navigation = new VIAM.NavigationClient(machine, 'my_navigation');
  
  const paths = await navigation.getPaths();
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  For more information, see Navigation API.

getProperties

• getProperties(
      callOptions?: CallOptions,
  ): Promise<navigationApi.GetPropertiesResponse>

  Gets information on the properties of the current navigation service.

  Parameters

  • callOptions: CallOptions = ...

  Returns Promise<navigationApi.GetPropertiesResponse>

  Example

  const navigation = new VIAM.NavigationClient(machine, 'my_navigation');
  
  const properties = await navigation.getProperties();
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  For more information, see Navigation API.

getStatus

• getStatus(callOptions?: CallOptions): Promise<JsonValue>

  Get the status of the resource.

  Parameters

  • callOptions: CallOptions = ...

  Returns Promise<JsonValue>

getWayPoints

• getWayPoints(
      extra?: {},
      callOptions?: CallOptions,
  ): Promise<navigationApi.Waypoint[]>

  Get an array of waypoints currently in the service's data storage.

  Parameters

  • extra: {} = {}
  • callOptions: CallOptions = ...

  Returns Promise<navigationApi.Waypoint[]>

  Example

  const navigation = new VIAM.NavigationClient(machine, 'my_navigation');
  
  const waypoints = await navigation.getWayPoints();
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  For more information, see Navigation API.

removeWayPoint

• removeWayPoint(id: string, extra?: {}, callOptions?: CallOptions): Promise<void>

  Remove a waypoint from the service's data storage.

  Parameters

  • id: string

    The MongoDB ObjectID of the waypoint to remove from the service's data storage.

  • extra: {} = {}
  • callOptions: CallOptions = ...

  Returns Promise<void>

  Example

  const navigation = new VIAM.NavigationClient(machine, 'my_navigation');
  
  // Remove the first waypoint
  if (waypoints.length > 0) {
    await navigation.removeWayPoint(waypoints[0].id);
  }
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  For more information, see Navigation API.

setMode

• setMode(
      mode: navigationApi.Mode,
      extra?: {},
      callOptions?: CallOptions,
  ): Promise<void>

  Set the mode the robot is operating in.

  Parameters

  • mode: navigationApi.Mode

    The mode for the service to operate in.

    • 0: MODE_UNSPECIFIED
    • 1: MODE_MANUAL
    • 2: MODE_WAYPOINT
    • 3: MODE_EXPLORE
  • extra: {} = {}
  • callOptions: CallOptions = ...

  Returns Promise<void>

  Example

  const navigation = new VIAM.NavigationClient(machine, 'my_navigation');
  
  // Set the mode to 2 which corresponds to WAYPOINT
  await navigation.setMode(2);
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  For more information, see Navigation API.