WorldState contains information about the physical environment around a given robot. All of the fields within this message are optional, they can include information about the physical dimensions of an obstacle, the freespace of a robot, and any desired transforms between a given reference frame and a new target reference frame.

Generated

from message viam.common.v1.WorldState

Hierarchy

Constructors

Properties

a list of obstacles expressed as a geometry and the reference frame in which it was observed; this field is optional

Generated

from field: repeated viam.common.v1.GeometriesInFrame obstacles = 1;

transforms: commonApi.Transform[]

a list of Transforms, optionally with geometries. Used as supplemental transforms to transform a pose from one reference frame to another, or to attach moving geometries to the frame system. This field is optional

Generated

from field: repeated viam.common.v1.Transform transforms = 3;

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

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.WorldState>

  • 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