viam::sdk::Navigation Class Reference

Inheritance diagram for viam::sdk::Navigation:

Classes
struct	LocationResponse
	Location and direction. 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 this nav service's goal.
enum class	MapType : uint8_t { k_unspecified , k_none , k_gps }
	Is the map navigating in GPS or a custom map.

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.

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

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