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 ProtoStruct &extra) override
	Get the current position of the end of the arm.

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

std::vector< double >	get_joint_positions (const ProtoStruct &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 ProtoStruct &extra) override
	Move each joint on the arm to the corresponding angle specified in.

void	move_through_joint_positions (const std::vector< std::vector< double > > &positions, const Arm::MoveOptions &options, const ProtoStruct &extra) override
	Move each joint on the arm through the positions specified in.

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

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

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

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

std::vector< GeometryConfig >	get_geometries (const ProtoStruct &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 ProtoStruct &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 ProtoStruct &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 ProtoStruct &extra)=0
	Lists the joint positions in degrees of every joint on a robot arm.

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

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

void	move_through_joint_positions (const std::vector< std::vector< double > > &positions, const MoveOptions &options)
	Move each joint on the arm through the positions specified in.

virtual void	move_through_joint_positions (const std::vector< std::vector< double > > &positions, const MoveOptions &options, const ProtoStruct &extra)=0
	Move each joint on the arm through the positions specified in.

void	move_to_joint_positions (const std::vector< double > &positions)
	Move each joint on the arm to the corresponding angle specified in.

virtual void	move_to_joint_positions (const std::vector< double > &positions, const ProtoStruct &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 ProtoStruct &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.

void	move_to_joint_positions (const std::vector< double > &positions)
	Move each joint on the arm to the corresponding angle specified in.

void	move_through_joint_positions (const std::vector< std::vector< double > > &positions, const MoveOptions &options)
	Move each joint on the arm through the positions specified in.

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
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.

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::Stoppable
static void	stop_if_stoppable (const std::shared_ptr< Resource > &resource, const ProtoStruct &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)

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

Protected Attributes inherited from viam::sdk::Resource
LogSource	logger_

Detailed Description

gRPC client implementation of an Arm component.

Member Function Documentation

◆ do_command()

ProtoStruct viam::sdk::impl::ArmClient::do_command ( const ProtoStruct & 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 ProtoStruct & 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 ProtoStruct & 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 ProtoStruct & 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 ProtoStruct & 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 ProtoStruct & 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 ProtoStruct & 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 ProtoStruct & 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 ProtoStruct & 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_through_joint_positions() [1/3]

void viam::sdk::impl::ArmClient::move_through_joint_positions	(	const std::vector< std::vector< double > > &	positions,
		const Arm::MoveOptions &	options,
		const ProtoStruct &	extra )

overridevirtual

Move each joint on the arm through the positions specified in.

Parameters

positions
options	optional specifications to be obeyed during the motion.
extra	Any additional arguments to the method.

Implements viam::sdk::Arm.

◆ move_through_joint_positions() [2/3]

void viam::sdk::Arm::move_through_joint_positions	(	const std::vector< std::vector< double > > &	positions,
		const MoveOptions &	options )

inline

Move each joint on the arm through the positions specified in.

Parameters

positions
options	optional specifications to be obeyed during the motion. TODO consider replacing vector vector with xtensor array, and also if it may be possible to specify or constrain dimensionality of the array in advance.

◆ move_through_joint_positions() [3/3]

virtual void viam::sdk::Arm::move_through_joint_positions	(	const std::vector< std::vector< double > > &	positions,
		const MoveOptions &	options,
		const ProtoStruct &	extra )

virtual

Move each joint on the arm through the positions specified in.

Parameters

positions
options	optional specifications to be obeyed during the motion.
extra	Any additional arguments to the method.

Implements viam::sdk::Arm.

◆ move_to_joint_positions() [1/3]

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

inline

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

Parameters

positions

◆ move_to_joint_positions() [2/3]

void viam::sdk::impl::ArmClient::move_to_joint_positions	(	const std::vector< double > &	positions,
		const ProtoStruct &	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() [3/3]

virtual void viam::sdk::Arm::move_to_joint_positions	(	const std::vector< double > &	positions,
		const ProtoStruct &	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 ProtoStruct &	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 ProtoStruct &	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 ProtoStruct & 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_through_joint_positions() [1/3]

◆ move_through_joint_positions() [2/3]

◆ move_through_joint_positions() [3/3]

◆ move_to_joint_positions() [1/3]

◆ move_to_joint_positions() [2/3]

◆ move_to_joint_positions() [3/3]

◆ move_to_position() [1/3]

◆ move_to_position() [2/3]

◆ move_to_position() [3/3]

◆ stop()