6#include <grpcpp/channel.h>
8#include <viam/api/component/arm/v1/arm.grpc.pb.h>
22 ArmClient(std::string
name, std::shared_ptr<grpc::Channel> channel);
28 const AttributeMap& extra)
override;
30 void stop(
const AttributeMap& extra)
override;
31 AttributeMap
do_command(
const AttributeMap& command)
override;
33 std::vector<GeometryConfig>
get_geometries(
const AttributeMap& extra)
override;
46 using StubType = viam::component::arm::v1::ArmService::StubInterface;
47 std::unique_ptr<StubType> stub_;
48 std::shared_ptr<grpc::Channel> channel_;
Defines an Arm component.
An Arm represents a physical robot arm that exists in three-dimensional space.
Definition arm.hpp:28
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
std::vector< GeometryConfig > get_geometries()
Returns GeometryConfigs associated with the calling arm.
Definition arm.hpp:123
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::string name() const
Return the resource's name.
void stop()
Stops a resource from running.
Definition stoppable.hpp:16
gRPC client implementation of an Arm component.
Definition arm_client.hpp:19
bool is_moving() override
Reports if the arm is in motion.
void move_to_position(const pose &pose, const AttributeMap &extra) override
Move the end of the arm to.
void stop(const AttributeMap &extra) override
Stops a resource from running.
std::vector< GeometryConfig > get_geometries(const AttributeMap &extra) override
Returns GeometryConfigs associated with the calling arm.
AttributeMap do_command(const AttributeMap &command) override
Send/receive arbitrary commands to the resource.
void move_to_joint_positions(const std::vector< double > &positions, const AttributeMap &extra) override
Move each joint on the arm to the corresponding angle specified in.
std::vector< double > get_joint_positions(const AttributeMap &extra) override
Lists the joint positions in degrees of every joint on a robot arm.
Arm::KinematicsData get_kinematics(const AttributeMap &extra) override
Get the kinematics data associated with the arm.
pose get_end_position(const AttributeMap &extra) override
Get the current position of the end of the arm.