Viam SDK
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    Class MotionConfiguration

    from message viam.service.motion.v1.MotionConfiguration

    Hierarchy

    Index

    Constructors

    constructor

    Properties

    angularDegsPerSec? linearMPerSec? obstacleDetectors obstaclePollingFrequencyHz? planDeviationM? positionPollingFrequencyHz? fields runtime typeName

    Methods

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

    Constructors

    Properties

    angularDegsPerSec?: number

    Optional angular velocity to target when turning

    from field: optional double angular_degs_per_sec = 6;

    linearMPerSec?: number

    Optional linear velocity to target when moving

    from field: optional double linear_m_per_sec = 5;

    obstacleDetectors: motionApi.ObstacleDetector[]

    The ObstacleDetectors that will be used for transient obstacle avoidance

    from field: repeated viam.service.motion.v1.ObstacleDetector obstacle_detectors = 1;

    obstaclePollingFrequencyHz?: number

    Sets the frequency to poll the vision service(s) for new obstacles

    from field: optional double obstacle_polling_frequency_hz = 3;

    planDeviationM?: number

    Sets the distance in meters that a robot is allowed to deviate from the motion plan

    from field: optional double plan_deviation_m = 4;

    positionPollingFrequencyHz?: number

    Sets the frequency to poll for the position of the robot

    from field: optional double position_polling_frequency_hz = 2;

    fields: FieldList
    runtime: ProtoRuntime
    typeName: "viam.service.motion.v1.MotionConfiguration"

    Methods

    • 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

    • Parse a message from a JSON value.

      Parameters

      • jsonValue: JsonValue
      • Optionaloptions: Partial<JsonReadOptions>

      Returns this

    • Parse a message from a JSON string.

      Parameters

      • jsonString: string
      • Optionaloptions: 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<motionApi.MotionConfiguration>

    • Serialize the message to binary data.

      Parameters

      • Optionaloptions: Partial<BinaryWriteOptions>

      Returns Uint8Array

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

      Parameters

      • Optionaloptions: Partial<JsonWriteOptions>

      Returns 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

    • Serialize the message to a JSON string.

      Parameters

      • Optionaloptions: Partial<JsonWriteStringOptions>

      Returns string

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