Class MoveOptions

MoveOptions specifies kinematic constraints for an arm motion. All fields are optional ceilings; any combination may be set. Every constraint that is set is respected at every point along the executed trajectory. The limiting constraint may change throughout execution.

Generated

from message viam.component.arm.v1.MoveOptions

Hierarchy

Constructors

constructor

Properties

maxAccDegsPerSec2? maxAccDegsPerSec2Joints maxTcpSpeed? maxVelDegsPerSec? maxVelDegsPerSecJoints fields runtime typeName

Methods

clone equals fromBinary fromJson fromJsonString getType toBinary toJson toJSON toJsonString equals fromBinary fromJson fromJsonString

Constructors

constructor

Properties

OptionalmaxAccDegsPerSec2

maxAccDegsPerSec2?: number

Maximum allowable acceleration of an arm joint, in degrees per second squared. The arm driver will accelerate as fast as possible up to the set value. ignored when max_acc_degs_per_sec2_joints is set.

Generated

from field: optional double max_acc_degs_per_sec2 = 2;

maxAccDegsPerSec2Joints

maxAccDegsPerSec2Joints: number[]

Per-joint maximum acceleration in degrees per second squared. The arm driver will accelerate each joint as fast as possible up to its respective set value.

Generated

from field: repeated double max_acc_degs_per_sec2_joints = 4;

OptionalmaxTcpSpeed

maxTcpSpeed?: number

Maximum allowable speed of an arm's tool center point in meters per second. The arm driver will move the tool center point as fast as possible up to this set value.

Generated

from field: optional double max_tcp_speed = 5;

OptionalmaxVelDegsPerSec

maxVelDegsPerSec?: number

Maximum allowable velocity of an arm joint, in degrees per second. The arm driver will move as fast as possible up to the set value. Ignored when max_vel_degs_per_sec_joints is set.

Generated

from field: optional double max_vel_degs_per_sec = 1;

maxVelDegsPerSecJoints

maxVelDegsPerSecJoints: number[]

Per-joint maximum velocity in degrees per second. The arm driver will move each joint as fast as possible up to its respective set value.

Generated

from field: repeated double max_vel_degs_per_sec_joints = 3;

Static Readonlyfields

fields: FieldList

Static Readonlyruntime

runtime: ProtoRuntime

Static ReadonlytypeName

typeName: "viam.component.arm.v1.MoveOptions"

Methods

clone

equals

fromBinary

  • fromBinary(bytes: Uint8Array, options?: Partial<BinaryReadOptions>): this

    Parse from binary data, merging fields.

    Repeated fields are appended. Map entries are added, overwriting existing keys.

    If a message field is already present, it will be merged with the new data.

    Parameters

    • bytes: Uint8Array
    • Optionaloptions: Partial<BinaryReadOptions>

    Returns this

fromJson

  • fromJson(jsonValue: JsonValue, options?: Partial<JsonReadOptions>): this

    Parse a message from a JSON value.

    Parameters

    • jsonValue: JsonValue
    • Optionaloptions: Partial<JsonReadOptions>

    Returns this

fromJsonString

  • fromJsonString(jsonString: string, options?: Partial<JsonReadOptions>): this

    Parse a message from a JSON string.

    Parameters

    • jsonString: string
    • Optionaloptions: Partial<JsonReadOptions>

    Returns this

getType

  • getType(): MessageType<MoveOptions>

    Retrieve the MessageType of this message - a singleton that represents the protobuf message declaration and provides metadata for reflection- based operations.

    Returns MessageType<MoveOptions>

toBinary

  • toBinary(options?: Partial<BinaryWriteOptions>): Uint8Array

    Serialize the message to binary data.

    Parameters

    • Optionaloptions: Partial<BinaryWriteOptions>

    Returns Uint8Array

toJson

  • toJson(options?: Partial<JsonWriteOptions>): JsonValue

    Serialize the message to a JSON value, a JavaScript value that can be passed to JSON.stringify().

    Parameters

    • Optionaloptions: Partial<JsonWriteOptions>

    Returns JsonValue

ProtectedtoJSON

  • toJSON(): JsonValue

    Override for serialization behavior. This will be invoked when calling JSON.stringify on this message (i.e. JSON.stringify(msg)).

    Note that this will not serialize google.protobuf.Any with a packed message because the protobuf JSON format specifies that it needs to be unpacked, and this is only possible with a type registry to look up the message type. As a result, attempting to serialize a message with this type will throw an Error.

    This method is protected because you should not need to invoke it directly -- instead use JSON.stringify or toJsonString for stringified JSON. Alternatively, if actual JSON is desired, you should use toJson.

    Returns JsonValue

toJsonString

  • toJsonString(options?: Partial<JsonWriteStringOptions>): string

    Serialize the message to a JSON string.

    Parameters

    • Optionaloptions: Partial<JsonWriteStringOptions>

    Returns string

Staticequals

StaticfromBinary

  • fromBinary(bytes: Uint8Array, options?: Partial<BinaryReadOptions>): MoveOptions

    Parameters

    • bytes: Uint8Array
    • Optionaloptions: Partial<BinaryReadOptions>

    Returns MoveOptions

StaticfromJson

StaticfromJsonString

  • fromJsonString(
        jsonString: string,
        options?: Partial<JsonReadOptions>,
    ): MoveOptions

    Parameters

    • jsonString: string
    • Optionaloptions: Partial<JsonReadOptions>

    Returns MoveOptions

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