Inheritance diagram for viam::sdk::Navigation:

Classes
struct	LocationResponse
	Location and direction of the component configured with this nav service. More...

struct	Path
	A user-provided destination and a set of geopoints to get there. More...

struct	Properties
	A set of attributes for this nav service. More...

struct	Waypoint
	A location with an `id` handle that can be used to uniquely identify and remove it. More...

Public Types
enum class	Mode : uint8_t { k_unspecified , k_manual , k_waypoint , k_explore }
	Enum affecting how this nav service's goal is specified.

enum class	MapType : uint8_t { k_unspecified , k_none , k_gps }
	Enum affecting the format of the map used with this nav service.

Public Member Functions
API	api () const override
	Returns the `API` associated with a particular resource.

virtual Mode	get_mode (const ProtoStruct &extra)=0
	Get the current mode.

virtual void	set_mode (const Mode mode, const ProtoStruct &extra)=0
	Set the current mode.

virtual LocationResponse	get_location (const ProtoStruct &extra)=0
	Get the current location.

virtual std::vector< Waypoint >	get_waypoints (const ProtoStruct &extra)=0
	Get the waypoints this nav service knows about.

virtual void	add_waypoint (const geo_point &location, const ProtoStruct &extra)=0
	Add a waypoint.

virtual void	remove_waypoint (const std::string id, const ProtoStruct &extra)=0
	Remove a waypoint by ID.

virtual std::vector< geo_geometry >	get_obstacles (const ProtoStruct &extra)=0
	Get the obstacles this nav service knows about.

virtual std::vector< Path >	get_paths (const ProtoStruct &extra)=0
	Get the paths this nav service knows about.

virtual Properties	get_properties ()=0
	Get this nav service's properties.

virtual ProtoStruct	do_command (const ProtoStruct &command)=0
	Do an arbitrary command.

Mode	get_mode ()

void	set_mode (const Mode mode)

LocationResponse	get_location ()

std::vector< Waypoint >	get_waypoints ()

void	add_waypoint (const geo_point &location)

void	remove_waypoint (const std::string id)

std::vector< geo_geometry >	get_obstacles ()

std::vector< Path >	get_paths ()

Public Member Functions inherited from viam::sdk::Service
Name	get_resource_name () const override
	Returns the `Name` for a particular resource.

Public Member Functions inherited from viam::sdk::Resource
	Resource (std::string name)

virtual std::string	name () const
	Return the resource's name.

void	set_log_level (log_level) const
	Set the log level for log messages originating from this Resource.

Protected Member Functions
	Navigation (std::string name)

Protected Member Functions inherited from viam::sdk::Service
	Service (std::string name)

Protected Member Functions inherited from viam::sdk::Resource
Name	get_resource_name (const std::string &type) const

Additional Inherited Members
Protected Attributes inherited from viam::sdk::Resource
LogSource	logger_

Member Function Documentation

◆ add_waypoint()

virtual void viam::sdk::Navigation::add_waypoint	(	const geo_point &	location,
		const ProtoStruct &	extra )

pure virtual

Add a waypoint.

Parameters

location Coordinate of the new waypoint.

Implemented in viam::sdk::impl::NavigationClient.

◆ api()

API viam::sdk::Navigation::api ( ) const

overridevirtual

Returns the API associated with a particular resource.

Implements viam::sdk::Resource.

◆ do_command()

virtual ProtoStruct viam::sdk::Navigation::do_command ( const ProtoStruct & command )

pure virtual

Do an arbitrary command.

Parameters

command Freeform fields that are service-specific.

Returns: Freeform result of the command.

Implemented in viam::sdk::impl::NavigationClient.

◆ get_location()

virtual LocationResponse viam::sdk::Navigation::get_location ( const ProtoStruct & extra )

pure virtual

Get the current location.

Parameters

extra Any additional arguments to the method.

Returns: Current location.

Implemented in viam::sdk::impl::NavigationClient.

◆ get_mode()

virtual Mode viam::sdk::Navigation::get_mode ( const ProtoStruct & extra )

pure virtual

Get the current mode.

Parameters

extra Any additional arguments to the method.

Returns: Current mode.

Implemented in viam::sdk::impl::NavigationClient.

◆ get_obstacles()

virtual std::vector< geo_geometry > viam::sdk::Navigation::get_obstacles ( const ProtoStruct & extra )

pure virtual

Get the obstacles this nav service knows about.

Parameters

extra Any additional arguments to the method.

Returns: List of shapes.

Implemented in viam::sdk::impl::NavigationClient.

◆ get_paths()

virtual std::vector< Path > viam::sdk::Navigation::get_paths ( const ProtoStruct & extra )

pure virtual

Get the paths this nav service knows about.

Parameters

extra Any additional arguments to the method.

Returns: List of paths.

Implemented in viam::sdk::impl::NavigationClient.

◆ get_properties()

virtual Properties viam::sdk::Navigation::get_properties ( )

pure virtual

Get this nav service's properties.

Returns: Properties.

Implemented in viam::sdk::impl::NavigationClient.

◆ get_waypoints()

virtual std::vector< Waypoint > viam::sdk::Navigation::get_waypoints ( const ProtoStruct & extra )

pure virtual

Get the waypoints this nav service knows about.

Parameters

extra Any additional arguments to the method.

Returns: List of waypoints.

Implemented in viam::sdk::impl::NavigationClient.

◆ remove_waypoint()

virtual void viam::sdk::Navigation::remove_waypoint	(	const std::string	id,
		const ProtoStruct &	extra )

pure virtual

Remove a waypoint by ID.

Parameters

id	The string ID of the waypoint to remove.
extra	Any additional arguments to the method.

Implemented in viam::sdk::impl::NavigationClient.

◆ set_mode()

virtual void viam::sdk::Navigation::set_mode	(	const Mode	mode,
		const ProtoStruct &	extra )

pure virtual

Set the current mode.

Parameters

mode	Desired mode.
extra	Any additional arguments to the method.

Implemented in viam::sdk::impl::NavigationClient.

The documentation for this class was generated from the following file:

src/viam/sdk/services/navigation.hpp

Classes

Public Types

Public Member Functions

Protected Member Functions

Additional Inherited Members

Member Function Documentation

◆ add_waypoint()

◆ api()

◆ do_command()

◆ get_location()

◆ get_mode()

◆ get_obstacles()

◆ get_paths()

◆ get_properties()

◆ get_waypoints()

◆ remove_waypoint()

◆ set_mode()