8#include <boost/variant/variant.hpp>
10#include <viam/api/common/v1/common.pb.h>
11#include <viam/api/component/arm/v1/arm.pb.h>
13#include <viam/sdk/common/pose.hpp>
14#include <viam/sdk/resource/stoppable.hpp>
15#include <viam/sdk/spatialmath/geometry.hpp>
35 raw_bytes() =
default;
36 raw_bytes(std::vector<unsigned char> b) : bytes(std::move(b)) {}
38 std::vector<unsigned char> bytes{};
42 template <
class DataType>
44 inline friend bool operator==(
const DataType& lhs,
const DataType& rhs) {
45 return lhs.bytes == rhs.bytes;
51 EqCompare<KinematicsDataUnspecified> {};
62 boost::variant<KinematicsDataUnspecified, KinematicsDataSVA, KinematicsDataURDF>;
64 static KinematicsData from_proto(
const viam::common::v1::GetKinematicsResponse& proto);
99 const AttributeMap& extra) = 0;
107 virtual AttributeMap
do_command(
const AttributeMap& command) = 0;
129 virtual std::vector<GeometryConfig>
get_geometries(
const AttributeMap& extra) = 0;
134 explicit Arm(std::string
name);
Extends APIType to additionally define a resource's subtype (e.g., camera).
Definition resource_api.hpp:33
An Arm represents a physical robot arm that exists in three-dimensional space.
Definition arm.hpp:28
virtual bool is_moving()=0
Reports if the arm is in motion.
virtual AttributeMap do_command(const AttributeMap &command)=0
Send/receive arbitrary commands to the resource.
KinematicsData get_kinematics()
Get the kinematics data associated with the arm.
Definition arm.hpp:118
std::vector< double > get_joint_positions()
Lists the joint positions in degrees of every joint on a robot arm.
Definition arm.hpp:88
virtual KinematicsData get_kinematics(const AttributeMap &extra)=0
Get the kinematics data associated with the arm.
virtual std::vector< double > get_joint_positions(const AttributeMap &extra)=0
Lists the joint positions in degrees of every joint on a robot arm.
std::vector< GeometryConfig > get_geometries()
Returns GeometryConfigs associated with the calling arm.
Definition arm.hpp:123
virtual void move_to_position(const pose &pose, const AttributeMap &extra)=0
Move the end of the arm to.
virtual pose get_end_position(const AttributeMap &extra)=0
Get the current position of the end of the arm.
boost::variant< KinematicsDataUnspecified, KinematicsDataSVA, KinematicsDataURDF > KinematicsData
The kinematics of the component.
Definition arm.hpp:61
virtual void move_to_joint_positions(const std::vector< double > &positions, const AttributeMap &extra)=0
Move each joint on the arm to the corresponding angle specified in.
pose get_end_position()
Get the current position of the end of the arm.
Definition arm.hpp:68
void move_to_position(const pose &pose)
Move the end of the arm to.
Definition arm.hpp:78
virtual std::vector< GeometryConfig > get_geometries(const AttributeMap &extra)=0
Returns GeometryConfigs associated with the calling arm.
API api() const override
Returns the API associated with a particular resource.
Definition component.hpp:14
virtual std::string name() const
Return the resource's name.
Definition stoppable.hpp:8
Definition resource_api.hpp:50