Class SlamClient

constructor

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

  Parameters

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

  Returns SlamClient

callOptions

Readonlyname

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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getInternalState

• getInternalState(callOptions?: CallOptions): Promise<Uint8Array>

  Get the internal state of the SLAM algorithm required to continue mapping/localization.

  Parameters

  • callOptions: CallOptions = ...

  Returns Promise<Uint8Array>

  Example

  const slam = new VIAM.SlamClient(machine, 'my_slam');
  
  // Get the internal state of the SLAM algorithm
  const internalState = await slam.getInternalState();
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  For more information, see SLAM API.

getPointCloudMap

• getPointCloudMap(
      returnEditedMap?: boolean,
      callOptions?: CallOptions,
  ): Promise<Uint8Array>

  Get the point cloud SLAM map.

  Parameters

  • OptionalreturnEditedMap: boolean
  • callOptions: CallOptions = ...

  Returns Promise<Uint8Array>

  Example

  const slam = new VIAM.SlamClient(machine, 'my_slam');
  
  // Get the point cloud map
  const pointCloudMap = await slam.getPointCloudMap();
  
  // Get the edited point cloud map
  const editedMap = await slam.getPointCloudMap(true);
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  For more information, see SLAM API.

getPosition

• getPosition(callOptions?: CallOptions): Promise<slamApi.GetPositionResponse>

  Get the current position of the specified source component in the point cloud SLAM map.

  Parameters

  • callOptions: CallOptions = ...

  Returns Promise<slamApi.GetPositionResponse>

  Example

  const slam = new VIAM.SlamClient(machine, 'my_slam');
  
  // Get the current position of the robot in the SLAM map
  const position = await slam.getPosition();
  console.log('Current position:', position);
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  For more information, see SLAM API.

getProperties

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

  Get information on the properties of the current SLAM service.

  Parameters

  • callOptions: CallOptions = ...

  Returns Promise<slamApi.GetPropertiesResponse>

  Example

  const slam = new VIAM.SlamClient(machine, 'my_slam');
  
  // Get the properties of the SLAM service
  const properties = await slam.getProperties();
  console.log('SLAM properties:', properties);
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  For more information, see SLAM API.