Pose is a combination of location and orientation. Location is expressed as distance which is represented by x , y, z coordinates. Orientation is expressed as an orientation vector which is represented by o_x, o_y, o_z and theta. The o_x, o_y, o_z coordinates represent the point on the cartesian unit sphere that the end of the arm is pointing to (with the origin as reference). That unit vector forms an axis around which theta rotates. This means that incrementing / decrementing theta will perform an inline rotation of the end effector. Theta is defined as rotation between two planes: the first being defined by the origin, the point (0,0,1), and the rx, ry, rz point, and the second being defined by the origin, the rx, ry, rz point and the local Z axis. Therefore, if theta is kept at zero as the north/south pole is circled, the Roll will correct itself to remain in-line.

Generated

from message viam.common.v1.Pose

Hierarchy

Constructors

Properties

oX: number

z component of a vector defining axis of rotation

Generated

from field: double o_x = 4;

oY: number

x component of a vector defining axis of rotation

Generated

from field: double o_y = 5;

oZ: number

y component of a vector defining axis of rotation

Generated

from field: double o_z = 6;

theta: number

degrees

Generated

from field: double theta = 7;

x: number

millimeters from the origin

Generated

from field: double x = 1;

y: number

millimeters from the origin

Generated

from field: double y = 2;

z: number

millimeters from the origin

Generated

from field: double z = 3;

fields: FieldList
runtime: ProtoRuntime
typeName: "viam.common.v1.Pose" = "viam.common.v1.Pose"

Methods

  • Compare with a message of the same type. Note that this function disregards extensions and unknown fields.

    Parameters

    Returns boolean

  • 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
    • Optional options: Partial<BinaryReadOptions>

    Returns this

  • Parse a message from a JSON value.

    Parameters

    • jsonValue: JsonValue
    • Optional options: Partial<JsonReadOptions>

    Returns this

  • Parse a message from a JSON string.

    Parameters

    • jsonString: string
    • Optional options: Partial<JsonReadOptions>

    Returns this

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

    Returns MessageType<commonApi.Pose>

  • Serialize the message to binary data.

    Parameters

    • Optional options: Partial<BinaryWriteOptions>

    Returns Uint8Array

  • 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

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

    Parameters

    • Optional options: Partial<JsonWriteOptions>

    Returns JsonValue

  • Serialize the message to a JSON string.

    Parameters

    • Optional options: Partial<JsonWriteStringOptions>

    Returns string

  • Parameters

    • bytes: Uint8Array
    • Optional options: Partial<BinaryReadOptions>

    Returns commonApi.Pose

  • Parameters

    • jsonString: string
    • Optional options: Partial<JsonReadOptions>

    Returns commonApi.Pose