Class SlamClient

A gRPC-web client for a SLAM service.

Implements

Slam

Index

Constructors

Properties

callOptions name

Methods

doCommand getInternalState getPointCloudMap getPosition getProperties getStatus

Constructors

constructor

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

Properties

callOptions

callOptions: CallOptions = ...

`Readonly`name

name: string

The name of the resource.

Methods

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' } }));
```
Implementation of Slam.doCommand

getInternalState

getInternalState(
callOptions?: CallOptions,
): Promise<Uint8Array<ArrayBufferLike>>
Get the internal state of the SLAM algorithm required to continue mapping/localization.
Parameters
- callOptions: CallOptions = ...
Returns Promise<Uint8Array<ArrayBufferLike>>
Example
```
const slam = new VIAM.SlamClient(machine, 'my_slam');

// Get the internal state of the SLAM algorithm
const internalState = await slam.getInternalState();
```
For more information, see SLAM API.
Implementation of Slam.getInternalState

getPointCloudMap

getPointCloudMap(
returnEditedMap?: boolean,
callOptions?: CallOptions,
): Promise<Uint8Array<ArrayBufferLike>>
Get the point cloud SLAM map.
Parameters
- OptionalreturnEditedMap: boolean
- callOptions: CallOptions = ...
Returns Promise<Uint8Array<ArrayBufferLike>>
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);
```
For more information, see SLAM API.
Implementation of Slam.getPointCloudMap

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);
```
For more information, see SLAM API.
Implementation of Slam.getPosition

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);
```
For more information, see SLAM API.
Implementation of Slam.getProperties

getStatus

getStatus(callOptions?: CallOptions): Promise<JsonValue>
Get the status of the resource.
Parameters
- callOptions: CallOptions = ...
Returns Promise<JsonValue>
Implementation of Slam.getStatus