Class SlamClient

Type declaration

• Readonly methods: {
      doCommand: {
          I: typeof DoCommandRequest;
          O: typeof DoCommandResponse;
          kind: Unary;
          name: "DoCommand";
      };
      getInternalState: {
          I: typeof GetInternalStateRequest;
          O: typeof GetInternalStateResponse;
          kind: ServerStreaming;
          name: "GetInternalState";
      };
      getPointCloudMap: {
          I: typeof GetPointCloudMapRequest;
          O: typeof GetPointCloudMapResponse;
          kind: ServerStreaming;
          name: "GetPointCloudMap";
      };
      getPosition: {
          I: typeof slamApi.GetPositionRequest;
          O: typeof slamApi.GetPositionResponse;
          kind: Unary;
          name: "GetPosition";
      };
      getProperties: {
          I: typeof slamApi.GetPropertiesRequest;
          O: typeof slamApi.GetPropertiesResponse;
          kind: Unary;
          name: "GetProperties";
      };
  }

  • Readonly doCommand: {
        I: typeof DoCommandRequest;
        O: typeof DoCommandResponse;
        kind: Unary;
        name: "DoCommand";
    }

    DoCommand sends/receives arbitrary commands.

    Generated

    from rpc viam.service.slam.v1.SLAMService.DoCommand

    • Readonly I: typeof DoCommandRequest

    • Readonly O: typeof DoCommandResponse

    • Readonly kind: Unary

    • Readonly name: "DoCommand"

  • Readonly getInternalState: {
        I: typeof GetInternalStateRequest;
        O: typeof GetInternalStateResponse;
        kind: ServerStreaming;
        name: "GetInternalState";
    }

    GetInternalState returns the internal map as defined by the specified slam algorithm required to continue mapping/localizing. This endpoint is not intended for end users.

    Generated

    from rpc viam.service.slam.v1.SLAMService.GetInternalState

    • Readonly I: typeof GetInternalStateRequest

    • Readonly O: typeof GetInternalStateResponse

    • Readonly kind: ServerStreaming

    • Readonly name: "GetInternalState"

  • Readonly getPointCloudMap: {
        I: typeof GetPointCloudMapRequest;
        O: typeof GetPointCloudMapResponse;
        kind: ServerStreaming;
        name: "GetPointCloudMap";
    }

    GetPointCloudMap returns the latest pointcloud map available where XY is the ground plane and positive Z is up, following the Right Hand Rule.

    Generated

    from rpc viam.service.slam.v1.SLAMService.GetPointCloudMap

    • Readonly I: typeof GetPointCloudMapRequest

    • Readonly O: typeof GetPointCloudMapResponse

    • Readonly kind: ServerStreaming

    • Readonly name: "GetPointCloudMap"

  • Readonly getPosition: {
        I: typeof slamApi.GetPositionRequest;
        O: typeof slamApi.GetPositionResponse;
        kind: Unary;
        name: "GetPosition";
    }

    GetPosition returns the current estimated position of the robot with respect to a returned component reference.

    Generated

    from rpc viam.service.slam.v1.SLAMService.GetPosition

    • Readonly I: typeof slamApi.GetPositionRequest

    • Readonly O: typeof slamApi.GetPositionResponse

    • Readonly kind: Unary

    • Readonly name: "GetPosition"

  • Readonly getProperties: {
        I: typeof slamApi.GetPropertiesRequest;
        O: typeof slamApi.GetPropertiesResponse;
        kind: Unary;
        name: "GetProperties";
    }

    GetProperties returns properties of the current slam service including mapping_mode and cloud_slam, where mapping_mode is the type of mapping/localizing being performed and cloud_slam is a boolean representing if this SLAM service is being run in the cloud.

    Generated

    from rpc viam.service.slam.v1.SLAMService.GetProperties

    • Readonly I: typeof slamApi.GetPropertiesRequest

    • Readonly O: typeof slamApi.GetPropertiesResponse

    • Readonly kind: Unary

    • Readonly name: "GetProperties"

• Readonly typeName: "viam.service.slam.v1.SLAMService"