Class Transform

Transform contains a pose and two reference frames. The first reference frame is the starting reference frame, and the second reference frame is the observer reference frame. The second reference frame has a pose which represents the pose of an object in the first reference frame as observed within the second reference frame.

Generated

from message viam.common.v1.Transform

Hierarchy

Constructors

constructor

Properties

metadata? physicalObject? poseInObserverFrame? referenceFrame uuid fields runtime typeName

Methods

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

Constructors

constructor

Properties

Optionalmetadata

metadata?: Struct

Can hold information like color, opacity, points colors, collision_allowed, etc...

Generated

from field: optional google.protobuf.Struct metadata = 5;

OptionalphysicalObject

physicalObject?: commonApi.Geometry

Generated

from field: optional viam.common.v1.Geometry physical_object = 3;

OptionalposeInObserverFrame

poseInObserverFrame?: commonApi.PoseInFrame

the pose of the above reference frame with respect to a different observer reference frame

Generated

from field: viam.common.v1.PoseInFrame pose_in_observer_frame = 2;

referenceFrame

referenceFrame: string

the name of a given reference frame

Generated

from field: string reference_frame = 1;

uuid

uuid: Uint8Array

The UUID of the transform

Generated

from field: bytes uuid = 4;

Static Readonlyfields

fields: FieldList

Static Readonlyruntime

runtime: ProtoRuntime

Static ReadonlytypeName

typeName: "viam.common.v1.Transform"

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<commonApi.Transform>

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

    Returns MessageType<commonApi.Transform>

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>,
    ): commonApi.Transform

    Parameters

    • bytes: Uint8Array
    • Optionaloptions: Partial<BinaryReadOptions>

    Returns commonApi.Transform

StaticfromJson

StaticfromJsonString

  • fromJsonString(
        jsonString: string,
        options?: Partial<JsonReadOptions>,
    ): commonApi.Transform

    Parameters

    • jsonString: string
    • Optionaloptions: Partial<JsonReadOptions>

    Returns commonApi.Transform

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