gRPC client implementation of an Arm component. More...

#include <arm_client.hpp>

Inheritance diagram for viam::sdk::impl::ArmClient:

Public Types
using	interface_type = Arm

Public Types inherited from viam::sdk::Arm
using	KinematicsData
	The kinematics of the component.

Public Member Functions
	ArmClient (std::string name, std::shared_ptr< grpc::Channel > channel)

pose	get_end_position (const AttributeMap &extra) override
	Get the current position of the end of the arm.

void	move_to_position (const pose &pose, const AttributeMap &extra) override
	Move the end of the arm to.

std::vector< double >	get_joint_positions (const AttributeMap &extra) override
	Lists the joint positions in degrees of every joint on a robot arm.

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.

bool	is_moving () override
	Reports if the arm is in motion.

void	stop (const AttributeMap &extra) override
	Stops a resource from running.

AttributeMap	do_command (const AttributeMap &command) override
	Send/receive arbitrary commands to the resource.

Arm::KinematicsData	get_kinematics (const AttributeMap &extra) override
	Get the kinematics data associated with the arm.

std::vector< GeometryConfig >	get_geometries (const AttributeMap &extra) override
	Returns `GeometryConfig`s associated with the calling arm.

pose	get_end_position ()
	Get the current position of the end of the arm.

virtual pose	get_end_position (const AttributeMap &extra)=0
	Get the current position of the end of the arm.

std::vector< GeometryConfig >	get_geometries ()
	Returns `GeometryConfig`s associated with the calling arm.

virtual std::vector< GeometryConfig >	get_geometries (const AttributeMap &extra)=0
	Returns `GeometryConfig`s associated with the calling arm.

std::vector< double >	get_joint_positions ()
	Lists the joint positions in degrees of every joint on a robot 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.

virtual KinematicsData	get_kinematics (const AttributeMap &extra)=0
	Get the kinematics data associated with the arm.

KinematicsData	get_kinematics ()
	Get the kinematics data associated with the arm.

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.

void	move_to_position (const pose &pose)
	Move the end of the arm to.

virtual void	move_to_position (const pose &pose, const AttributeMap &extra)=0
	Move the end of the arm to.

Public Member Functions inherited from viam::sdk::Arm
pose	get_end_position ()
	Get the current position of the end of the arm.

void	move_to_position (const pose &pose)
	Move the end of the arm to.

std::vector< double >	get_joint_positions ()
	Lists the joint positions in degrees of every joint on a robot arm.

KinematicsData	get_kinematics ()
	Get the kinematics data associated with the arm.

std::vector< GeometryConfig >	get_geometries ()
	Returns `GeometryConfig`s associated with the calling arm.

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

Public Member Functions inherited from viam::sdk::Component
viam::common::v1::ResourceName	get_resource_name (std::string name) const override
	Returns a `ResourceName` for a particular resource name.

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

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

Public Member Functions inherited from viam::sdk::Stoppable
void	stop ()
	Stops a resource from running.

Additional Inherited Members
Static Public Member Functions inherited from viam::sdk::Arm
static KinematicsData	from_proto (const viam::common::v1::GetKinematicsResponse &proto)

Static Public Member Functions inherited from viam::sdk::Stoppable
static void	stop_if_stoppable (const std::shared_ptr< Resource > &resource, const AttributeMap &extra)
	Stops a Resource if it is Stoppable.

static void	stop_if_stoppable (const std::shared_ptr< Resource > &resource)
	Stops a Resource if it is Stoppable.

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

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

Detailed Description

gRPC client implementation of an Arm component.

Member Function Documentation

◆ do_command()

AttributeMap viam::sdk::impl::ArmClient::do_command ( const AttributeMap & command )

overridevirtual

Send/receive arbitrary commands to the resource.

Parameters

Command the command to execute.

Returns: The result of the executed command.

Implements viam::sdk::Arm.

◆ get_end_position() [1/3]

pose viam::sdk::Arm::get_end_position ( )

inline

Get the current position of the end of the arm.

Returns: The pose representing the end position of the arm.

◆ get_end_position() [2/3]

pose viam::sdk::impl::ArmClient::get_end_position ( const AttributeMap & extra )

overridevirtual

Get the current position of the end of the arm.

Parameters

extra Any additional arguments to the method.

Returns: The pose representing the end position of the arm.

Implements viam::sdk::Arm.

◆ get_end_position() [3/3]

virtual pose viam::sdk::Arm::get_end_position ( const AttributeMap & extra )

virtual

Get the current position of the end of the arm.

Parameters

extra Any additional arguments to the method.

Returns: The pose representing the end position of the arm.

Implements viam::sdk::Arm.

◆ get_geometries() [1/2]

std::vector< GeometryConfig > viam::sdk::impl::ArmClient::get_geometries ( const AttributeMap & extra )

overridevirtual

Returns GeometryConfigs associated with the calling arm.

Parameters

extra Any additional arguments to the method

Implements viam::sdk::Arm.

◆ get_geometries() [2/2]

virtual std::vector< GeometryConfig > viam::sdk::Arm::get_geometries ( const AttributeMap & extra )

virtual

Returns GeometryConfigs associated with the calling arm.

Parameters

extra Any additional arguments to the method

Implements viam::sdk::Arm.

◆ get_joint_positions() [1/2]

std::vector< double > viam::sdk::impl::ArmClient::get_joint_positions ( const AttributeMap & extra )

overridevirtual

Lists the joint positions in degrees of every joint on a robot arm.

Parameters

extra Any additional arguments to the method.

Implements viam::sdk::Arm.

◆ get_joint_positions() [2/2]

virtual std::vector< double > viam::sdk::Arm::get_joint_positions ( const AttributeMap & extra )

virtual

Lists the joint positions in degrees of every joint on a robot arm.

Parameters

extra Any additional arguments to the method.

Implements viam::sdk::Arm.

◆ get_kinematics() [1/3]

KinematicsData viam::sdk::Arm::get_kinematics ( )

inline

Get the kinematics data associated with the arm.

Returns: A variant of kinematics data, with bytes field containing the raw bytes of the file and the object's type indicating the file format.

◆ get_kinematics() [2/3]

Arm::KinematicsData viam::sdk::impl::ArmClient::get_kinematics ( const AttributeMap & extra )

overridevirtual

Get the kinematics data associated with the arm.

Parameters

extra Any additional arguments to the method.

Returns: A variant of kinematics data, with bytes field containing the raw bytes of the file and the object's type indicating the file format.

Implements viam::sdk::Arm.

◆ get_kinematics() [3/3]

virtual KinematicsData viam::sdk::Arm::get_kinematics ( const AttributeMap & extra )

virtual

Get the kinematics data associated with the arm.

Parameters

extra Any additional arguments to the method.

Returns: A variant of kinematics data, with bytes field containing the raw bytes of the file and the object's type indicating the file format.

Implements viam::sdk::Arm.

◆ is_moving()

bool viam::sdk::impl::ArmClient::is_moving ( )

overridevirtual

Reports if the arm is in motion.

Implements viam::sdk::Arm.

◆ move_to_joint_positions() [1/2]

void viam::sdk::impl::ArmClient::move_to_joint_positions	(	const std::vector< double > &	positions,
		const AttributeMap &	extra )

overridevirtual

Move each joint on the arm to the corresponding angle specified in.

Parameters

positions
extra	Any additional arguments to the method.

Implements viam::sdk::Arm.

◆ move_to_joint_positions() [2/2]

virtual void viam::sdk::Arm::move_to_joint_positions	(	const std::vector< double > &	positions,
		const AttributeMap &	extra )

virtual

Move each joint on the arm to the corresponding angle specified in.

Parameters

positions
extra	Any additional arguments to the method.

Implements viam::sdk::Arm.

◆ move_to_position() [1/3]

void viam::sdk::Arm::move_to_position ( const pose & pose )

inline

Move the end of the arm to.

Parameters

pose.

◆ move_to_position() [2/3]

void viam::sdk::impl::ArmClient::move_to_position	(	const pose &	pose,
		const AttributeMap &	extra )

overridevirtual

Move the end of the arm to.

Parameters

pose.
pose	The destination pose for the arm.
extra	Any additional arguments to the method.

Implements viam::sdk::Arm.

◆ move_to_position() [3/3]

virtual void viam::sdk::Arm::move_to_position	(	const pose &	pose,
		const AttributeMap &	extra )

virtual

Move the end of the arm to.

Parameters

pose.
pose	The destination pose for the arm.
extra	Any additional arguments to the method.

Implements viam::sdk::Arm.

◆ stop()

void viam::sdk::impl::ArmClient::stop ( const AttributeMap & extra )

overridevirtual

Stops a resource from running.

Parameters

extra Extra arguments to pass to the resource's stop method.

Implements viam::sdk::Stoppable.

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

src/viam/sdk/components/private/arm_client.hpp

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ do_command()

◆ get_end_position() [1/3]

◆ get_end_position() [2/3]

◆ get_end_position() [3/3]

◆ get_geometries() [1/2]

◆ get_geometries() [2/2]

◆ get_joint_positions() [1/2]

◆ get_joint_positions() [2/2]

◆ get_kinematics() [1/3]

◆ get_kinematics() [2/3]

◆ get_kinematics() [3/3]

◆ is_moving()

◆ move_to_joint_positions() [1/2]

◆ move_to_joint_positions() [2/2]

◆ move_to_position() [1/3]

◆ move_to_position() [2/3]

◆ move_to_position() [3/3]

◆ stop()