gRPC client implementation of a Motion service. More...

#include <motion_client.hpp>

Inheritance diagram for viam::sdk::impl::MotionClient:

Public Types
using	interface_type = Motion

Public Types inherited from viam::sdk::Motion
enum class	plan_state : uint8_t { k_in_progress , k_stopped , k_succeeded , k_failed }
	Describes the possible states a plan can be in.

using	step = std::unordered_map<std::string, pose>
	An individual "step", representing the state each component (keyed as a fully qualified component name) should reach while executing that step of the plan.

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

bool	move (const pose_in_frame &destination, const std::string &component_name, const std::shared_ptr< WorldState > &world_state, const std::shared_ptr< constraints > &constraints, const ProtoStruct &extra) override
	Moves any compononent on the robot to a specified destination.

std::string	move_on_map (const pose &destination, const std::string &component_name, const std::string &slam_name, const std::shared_ptr< motion_configuration > &motion_configuration, const std::vector< GeometryConfig > &obstacles, const ProtoStruct &extra) override
	Moves any component on the robot to a specific destination on a SLAM map.

std::string	move_on_globe (const geo_point &destination, const boost::optional< double > &heading, const std::string &component_name, const std::string &movement_sensor_name, const std::vector< geo_geometry > &obstacles, const std::shared_ptr< motion_configuration > &motion_configuration, const std::vector< geo_geometry > &bounding_regions, const ProtoStruct &extra) override
	Moves any component on the robot to a specific destination on a globe.

pose_in_frame	get_pose (const std::string &component_name, const std::string &destination_frame, const std::vector< WorldState::transform > &supplemental_transforms, const ProtoStruct &extra) override
	Get the pose of any component on the robot.

void	stop_plan (const std::string &component_name, const ProtoStruct &extra) override
	Stop a currently executing motion plan.

Motion::plan_with_status	get_latest_plan (const std::string &component_name, const ProtoStruct &extra) override
	Returns the plan and state history of the most recent execution to move a component. Returns a result if the last execution is still executing, or changed state within the last 24 hours without an intervening robot reinitialization.

std::pair< Motion::plan_with_status, std::vector< Motion::plan_with_status > >	get_latest_plan_with_replan_history (const std::string &component_name, const ProtoStruct &extra) override
	Returns the plan, state history, and replan history of the most recent execution to move a component. Returns a result if the last execution is still executing, or changed state within the last 24 hours without an intervening robot reinitialization.

Motion::plan_with_status	get_plan (const std::string &component_name, const std::string &execution_id, const ProtoStruct &extra) override
	Returns the plan and state history of the requested plan. Returns a result if the last execution is still executing, or changed state within the last 24 hours without an intervening robot reinitialization.

std::pair< Motion::plan_with_status, std::vector< Motion::plan_with_status > >	get_plan_with_replan_history (const std::string &component_name, const std::string &execution_id, const ProtoStruct &extra) override
	Returns the plan, state history, and replan history of the requested plan. Returns a result if the last execution is still executing, or changed state within the last 24 hours without an intervening robot reinitialization.

std::vector< Motion::plan_status_with_id >	list_active_plan_statuses (const ProtoStruct &extra) override
	Returns the status of currently active plans created by MoveOnGlobe requests. Includes statuses of plans that are executing, or are part of an executing that changed its state within the last 24 hours.

std::vector< Motion::plan_status_with_id >	list_plan_statuses (const ProtoStruct &extra) override
	Returns the status of plans created by MoveOnGlobe requests. Includes statuses of plans that are executing, or are part of an execution that changed its state within the last 24 hours.

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

plan_with_status	get_latest_plan (const std::string &component_name)
	Returns the plan and state history of the most recent execution to move a component. Returns a result if the last execution is still executing, or changed state within the last 24 hours without an intervening robot reinitialization.

virtual plan_with_status	get_latest_plan (const std::string &component_name, const ProtoStruct &extra)=0
	Returns the plan and state history of the most recent execution to move a component. Returns a result if the last execution is still executing, or changed state within the last 24 hours without an intervening robot reinitialization.

std::pair< plan_with_status, std::vector< plan_with_status > >	get_latest_plan_with_replan_history (const std::string &component_name)
	Returns the plan, state history, and replan history of the most recent execution to move a component. Returns a result if the last execution is still executing, or changed state within the last 24 hours without an intervening robot reinitialization.

virtual std::pair< plan_with_status, std::vector< plan_with_status > >	get_latest_plan_with_replan_history (const std::string &component_name, const ProtoStruct &extra)=0
	Returns the plan, state history, and replan history of the most recent execution to move a component. Returns a result if the last execution is still executing, or changed state within the last 24 hours without an intervening robot reinitialization.

plan_with_status	get_plan (const std::string &component_name, const std::string &execution_id)
	Returns the plan and state history of the requested plan. Returns a result if the last execution is still executing, or changed state within the last 24 hours without an intervening robot reinitialization.

virtual plan_with_status	get_plan (const std::string &component_name, const std::string &execution_id, const ProtoStruct &extra)=0
	Returns the plan and state history of the requested plan. Returns a result if the last execution is still executing, or changed state within the last 24 hours without an intervening robot reinitialization.

std::pair< plan_with_status, std::vector< plan_with_status > >	get_plan_with_replan_history (const std::string &component_name, const std::string &execution_id)
	Returns the plan, state history, and replan history of the requested plan. Returns a result if the last execution is still executing, or changed state within the last 24 hours without an intervening robot reinitialization.

virtual std::pair< plan_with_status, std::vector< plan_with_status > >	get_plan_with_replan_history (const std::string &component_name, const std::string &execution_id, const ProtoStruct &extra)=0
	Returns the plan, state history, and replan history of the requested plan. Returns a result if the last execution is still executing, or changed state within the last 24 hours without an intervening robot reinitialization.

pose_in_frame	get_pose (const std::string &component_name, const std::string &destination_frame, const std::vector< WorldState::transform > &supplemental_transforms)
	Get the pose of any component on the robot.

virtual pose_in_frame	get_pose (const std::string &component_name, const std::string &destination_frame, const std::vector< WorldState::transform > &supplemental_transforms, const ProtoStruct &extra)=0
	Get the pose of any component on the robot.

std::vector< plan_status_with_id >	list_active_plan_statuses ()
	Returns the status of currently active plans created by MoveOnGlobe requests. Includes statuses of plans that are executing, or are part of an execution that changed its state within the last 24 hours.

virtual std::vector< plan_status_with_id >	list_active_plan_statuses (const ProtoStruct &extra)=0
	Returns the status of currently active plans created by MoveOnGlobe requests. Includes statuses of plans that are executing, or are part of an executing that changed its state within the last 24 hours.

std::vector< plan_status_with_id >	list_plan_statuses ()
	Returns the status of plans created by MoveOnGlobe requests. Includes statuses of plans that are executing, or are part of an executing that changed its state within the last 24 hours.

virtual std::vector< plan_status_with_id >	list_plan_statuses (const ProtoStruct &extra)=0
	Returns the status of plans created by MoveOnGlobe requests. Includes statuses of plans that are executing, or are part of an execution that changed its state within the last 24 hours.

bool	move (const pose_in_frame &destination, const std::string &name, const std::shared_ptr< WorldState > &world_state, const std::shared_ptr< constraints > &constraints)
	Moves any compononent on the robot to a specified destination.

virtual bool	move (const pose_in_frame &destination, const std::string &name, const std::shared_ptr< WorldState > &world_state, const std::shared_ptr< constraints > &constraints, const ProtoStruct &extra)=0
	Moves any compononent on the robot to a specified destination.

std::string	move_on_globe (const geo_point &destination, const boost::optional< double > &heading, const std::string &component_name, const std::string &movement_sensor_name, const std::vector< geo_geometry > &obstacles, const std::shared_ptr< motion_configuration > &motion_configuration, const std::vector< geo_geometry > &bounding_regions)
	Moves any component on the robot to a specific destination on a globe.

virtual std::string	move_on_globe (const geo_point &destination, const boost::optional< double > &heading, const std::string &component_name, const std::string &movement_sensor_name, const std::vector< geo_geometry > &obstacles, const std::shared_ptr< motion_configuration > &motion_configuration, const std::vector< geo_geometry > &bounding_regions, const ProtoStruct &extra)=0
	Moves any component on the robot to a specific destination on a globe.

std::string	move_on_map (const pose &destination, const std::string &component_name, const std::string &slam_name, const std::shared_ptr< motion_configuration > &motion_configuration, const std::vector< GeometryConfig > &obstacles)
	Moves any component on the robot to a specific destination on a SLAM map.

virtual std::string	move_on_map (const pose &destination, const std::string &component_name, const std::string &slam_name, const std::shared_ptr< motion_configuration > &motion_configuration, const std::vector< GeometryConfig > &obstacles, const ProtoStruct &extra)=0
	Moves any component on the robot to a specific destination on a SLAM map.

void	stop_plan (const std::string &component_name)
	Stop a currently executing motion plan.

virtual void	stop_plan (const std::string &component_name, const ProtoStruct &extra)=0
	Stop a currently executing motion plan.

Public Member Functions inherited from viam::sdk::Motion
API	api () const override
	Returns the `API` associated with a particular resource.

bool	move (const pose_in_frame &destination, const std::string &name, const std::shared_ptr< WorldState > &world_state, const std::shared_ptr< constraints > &constraints)
	Moves any compononent on the robot to a specified destination.

std::string	move_on_map (const pose &destination, const std::string &component_name, const std::string &slam_name, const std::shared_ptr< motion_configuration > &motion_configuration, const std::vector< GeometryConfig > &obstacles)
	Moves any component on the robot to a specific destination on a SLAM map.

std::string	move_on_globe (const geo_point &destination, const boost::optional< double > &heading, const std::string &component_name, const std::string &movement_sensor_name, const std::vector< geo_geometry > &obstacles, const std::shared_ptr< motion_configuration > &motion_configuration, const std::vector< geo_geometry > &bounding_regions)
	Moves any component on the robot to a specific destination on a globe.

pose_in_frame	get_pose (const std::string &component_name, const std::string &destination_frame, const std::vector< WorldState::transform > &supplemental_transforms)
	Get the pose of any component on the robot.

void	stop_plan (const std::string &component_name)
	Stop a currently executing motion plan.

plan_with_status	get_latest_plan (const std::string &component_name)
	Returns the plan and state history of the most recent execution to move a component. Returns a result if the last execution is still executing, or changed state within the last 24 hours without an intervening robot reinitialization.

std::pair< plan_with_status, std::vector< plan_with_status > >	get_latest_plan_with_replan_history (const std::string &component_name)
	Returns the plan, state history, and replan history of the most recent execution to move a component. Returns a result if the last execution is still executing, or changed state within the last 24 hours without an intervening robot reinitialization.

plan_with_status	get_plan (const std::string &component_name, const std::string &execution_id)
	Returns the plan and state history of the requested plan. Returns a result if the last execution is still executing, or changed state within the last 24 hours without an intervening robot reinitialization.

std::pair< plan_with_status, std::vector< plan_with_status > >	get_plan_with_replan_history (const std::string &component_name, const std::string &execution_id)
	Returns the plan, state history, and replan history of the requested plan. Returns a result if the last execution is still executing, or changed state within the last 24 hours without an intervening robot reinitialization.

std::vector< plan_status_with_id >	list_plan_statuses ()
	Returns the status of plans created by MoveOnGlobe requests. Includes statuses of plans that are executing, or are part of an executing that changed its state within the last 24 hours.

std::vector< plan_status_with_id >	list_active_plan_statuses ()
	Returns the status of currently active plans created by MoveOnGlobe requests. Includes statuses of plans that are executing, or are part of an execution that changed its state within the last 24 hours.

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.

Additional Inherited Members
Protected Member Functions inherited from viam::sdk::Motion
	Motion (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

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

Detailed Description

gRPC client implementation of a Motion service.

Member Function Documentation

◆ do_command()

ProtoStruct viam::sdk::impl::MotionClient::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::Motion.

◆ get_latest_plan() [1/3]

plan_with_status viam::sdk::Motion::get_latest_plan ( const std::string & component_name )

inline

Returns the plan and state history of the most recent execution to move a component. Returns a result if the last execution is still executing, or changed state within the last 24 hours without an intervening robot reinitialization.

Parameters

component_name The name of the component which the MoveOnGlobe request asked to move.

Returns: the plan and status of the most recent execution to move the requested component

◆ get_latest_plan() [2/3]

Motion::plan_with_status viam::sdk::impl::MotionClient::get_latest_plan	(	const std::string &	component_name,
		const ProtoStruct &	extra )

overridevirtual

Returns the plan and state history of the most recent execution to move a component. Returns a result if the last execution is still executing, or changed state within the last 24 hours without an intervening robot reinitialization.

Parameters

component_name	The name of the component which the MoveOnGlobe request asked to move.
extra	Any additional arguments to the method.

Returns: the plan and status of the most recent execution to move the requested component

Implements viam::sdk::Motion.

◆ get_latest_plan() [3/3]

virtual plan_with_status viam::sdk::Motion::get_latest_plan	(	const std::string &	component_name,
		const ProtoStruct &	extra )

virtual

Returns the plan and state history of the most recent execution to move a component. Returns a result if the last execution is still executing, or changed state within the last 24 hours without an intervening robot reinitialization.

Parameters

component_name	The name of the component which the MoveOnGlobe request asked to move.
extra	Any additional arguments to the method.

Returns: the plan and status of the most recent execution to move the requested component

Implements viam::sdk::Motion.

◆ get_latest_plan_with_replan_history() [1/3]

std::pair< plan_with_status, std::vector< plan_with_status > > viam::sdk::Motion::get_latest_plan_with_replan_history ( const std::string & component_name )

inline

Returns the plan, state history, and replan history of the most recent execution to move a component. Returns a result if the last execution is still executing, or changed state within the last 24 hours without an intervening robot reinitialization.

Parameters

component_name The name of the component which the MoveOnGlobe request asked to move.

Returns: a pair of (1) the plan and status and (2) the replan history of the most recent execution to move the requested component

◆ get_latest_plan_with_replan_history() [2/3]

std::pair< Motion::plan_with_status, std::vector< Motion::plan_with_status > > viam::sdk::impl::MotionClient::get_latest_plan_with_replan_history	(	const std::string &	component_name,
		const ProtoStruct &	extra )

overridevirtual

Returns the plan, state history, and replan history of the most recent execution to move a component. Returns a result if the last execution is still executing, or changed state within the last 24 hours without an intervening robot reinitialization.

Parameters

component_name	The name of the component which the MoveOnGlobe request asked to move.
extra	Any additional arguments to the method.

Returns: a pair of (1) the plan and status and (2) the replan history of the most recent execution to move the requested component

Implements viam::sdk::Motion.

◆ get_latest_plan_with_replan_history() [3/3]

virtual std::pair< plan_with_status, std::vector< plan_with_status > > viam::sdk::Motion::get_latest_plan_with_replan_history	(	const std::string &	component_name,
		const ProtoStruct &	extra )

virtual

Returns the plan, state history, and replan history of the most recent execution to move a component. Returns a result if the last execution is still executing, or changed state within the last 24 hours without an intervening robot reinitialization.

Parameters

component_name	The name of the component which the MoveOnGlobe request asked to move.
extra	Any additional arguments to the method.

Returns: a pair of (1) the plan and status and (2) the replan history of the most recent execution to move the requested component

Implements viam::sdk::Motion.

◆ get_plan() [1/3]

plan_with_status viam::sdk::Motion::get_plan	(	const std::string &	component_name,
		const std::string &	execution_id )

inline

Returns the plan and state history of the requested plan. Returns a result if the last execution is still executing, or changed state within the last 24 hours without an intervening robot reinitialization.

Parameters

component_name	The name of the component which the MoveOnGlobe request asked to move.
execution_id	The execution id of the requested plan.

Returns: the plan and status of the requested execution's move the requested component

◆ get_plan() [2/3]

Motion::plan_with_status viam::sdk::impl::MotionClient::get_plan	(	const std::string &	component_name,
		const std::string &	execution_id,
		const ProtoStruct &	extra )

overridevirtual

Returns the plan and state history of the requested plan. Returns a result if the last execution is still executing, or changed state within the last 24 hours without an intervening robot reinitialization.

Parameters

component_name	The name of the component which the MoveOnGlobe request asked to move.
execution_id	The execution id of the requested plan.
extra	Any additional arguments to the method.

Returns: the plan and status of the requested execution's move the requested component

Implements viam::sdk::Motion.

◆ get_plan() [3/3]

virtual plan_with_status viam::sdk::Motion::get_plan	(	const std::string &	component_name,
		const std::string &	execution_id,
		const ProtoStruct &	extra )

virtual

Returns the plan and state history of the requested plan. Returns a result if the last execution is still executing, or changed state within the last 24 hours without an intervening robot reinitialization.

Parameters

component_name	The name of the component which the MoveOnGlobe request asked to move.
execution_id	The execution id of the requested plan.
extra	Any additional arguments to the method.

Returns: the plan and status of the requested execution's move the requested component

Implements viam::sdk::Motion.

◆ get_plan_with_replan_history() [1/3]

std::pair< plan_with_status, std::vector< plan_with_status > > viam::sdk::Motion::get_plan_with_replan_history	(	const std::string &	component_name,
		const std::string &	execution_id )

inline

Returns the plan, state history, and replan history of the requested plan. Returns a result if the last execution is still executing, or changed state within the last 24 hours without an intervening robot reinitialization.

Parameters

component_name	The name of the component which the MoveOnGlobe request asked to move.
execution_id	The execution id of the requested plan.

Returns: a pair of (1) the plan and status and (2) the replan history of the most recent execution to move the requested component

◆ get_plan_with_replan_history() [2/3]

std::pair< Motion::plan_with_status, std::vector< Motion::plan_with_status > > viam::sdk::impl::MotionClient::get_plan_with_replan_history	(	const std::string &	component_name,
		const std::string &	execution_id,
		const ProtoStruct &	extra )

overridevirtual

Returns the plan, state history, and replan history of the requested plan. Returns a result if the last execution is still executing, or changed state within the last 24 hours without an intervening robot reinitialization.

Parameters

component_name	The name of the component which the MoveOnGlobe request asked to move.
execution_id	The execution id of the requested plan.
extra	Any additional arguments to the method.

Returns: a pair of (1) the plan and status and (2) the replan history of the most recent execution to move the requested component

Implements viam::sdk::Motion.

◆ get_plan_with_replan_history() [3/3]

virtual std::pair< plan_with_status, std::vector< plan_with_status > > viam::sdk::Motion::get_plan_with_replan_history	(	const std::string &	component_name,
		const std::string &	execution_id,
		const ProtoStruct &	extra )

virtual

Returns the plan, state history, and replan history of the requested plan. Returns a result if the last execution is still executing, or changed state within the last 24 hours without an intervening robot reinitialization.

Parameters

component_name	The name of the component which the MoveOnGlobe request asked to move.
execution_id	The execution id of the requested plan.
extra	Any additional arguments to the method.

Returns: a pair of (1) the plan and status and (2) the replan history of the most recent execution to move the requested component

Implements viam::sdk::Motion.

◆ get_pose() [1/3]

pose_in_frame viam::sdk::Motion::get_pose	(	const std::string &	component_name,
		const std::string &	destination_frame,
		const std::vector< WorldState::transform > &	supplemental_transforms )

inline

Get the pose of any component on the robot.

Parameters

component_name	The component whose pose is being requested.
destination_frame	The reference frame in which the component's pose should be provided.
supplemental_transforms	Pose information on any additional reference frames that are needed to compute the component's pose.

Returns: The pose of the component.

◆ get_pose() [2/3]

pose_in_frame viam::sdk::impl::MotionClient::get_pose	(	const std::string &	component_name,
		const std::string &	destination_frame,
		const std::vector< WorldState::transform > &	supplemental_transforms,
		const ProtoStruct &	extra )

overridevirtual

Get the pose of any component on the robot.

Parameters

component_name	The component whose pose is being requested.
destination_frame	The reference frame in which the component's pose should be provided.
supplemental_transforms	Pose information on any additional reference frames that are needed to compute the component's pose.
extra	Any additional arguments to the method.

Returns: The pose of the component.

Implements viam::sdk::Motion.

◆ get_pose() [3/3]

virtual pose_in_frame viam::sdk::Motion::get_pose	(	const std::string &	component_name,
		const std::string &	destination_frame,
		const std::vector< WorldState::transform > &	supplemental_transforms,
		const ProtoStruct &	extra )

virtual

Get the pose of any component on the robot.

Parameters

component_name	The component whose pose is being requested.
destination_frame	The reference frame in which the component's pose should be provided.
supplemental_transforms	Pose information on any additional reference frames that are needed to compute the component's pose.
extra	Any additional arguments to the method.

Returns: The pose of the component.

Implements viam::sdk::Motion.

◆ list_active_plan_statuses() [1/3]

std::vector< plan_status_with_id > viam::sdk::Motion::list_active_plan_statuses ( )

inline

Returns the status of currently active plans created by MoveOnGlobe requests. Includes statuses of plans that are executing, or are part of an execution that changed its state within the last 24 hours.

Returns: a vector of plan statuses.

◆ list_active_plan_statuses() [2/3]

std::vector< Motion::plan_status_with_id > viam::sdk::impl::MotionClient::list_active_plan_statuses ( const ProtoStruct & extra )

overridevirtual

Returns the status of currently active plans created by MoveOnGlobe requests. Includes statuses of plans that are executing, or are part of an executing that changed its state within the last 24 hours.

Parameters

extra Any additional arguments to the method.

Returns: a vector of plan statuses.

Implements viam::sdk::Motion.

◆ list_active_plan_statuses() [3/3]

virtual std::vector< plan_status_with_id > viam::sdk::Motion::list_active_plan_statuses ( const ProtoStruct & extra )

virtual

Returns the status of currently active plans created by MoveOnGlobe requests. Includes statuses of plans that are executing, or are part of an executing that changed its state within the last 24 hours.

Parameters

extra Any additional arguments to the method.

Returns: a vector of plan statuses.

Implements viam::sdk::Motion.

◆ list_plan_statuses() [1/3]

std::vector< plan_status_with_id > viam::sdk::Motion::list_plan_statuses ( )

inline

Returns the status of plans created by MoveOnGlobe requests. Includes statuses of plans that are executing, or are part of an executing that changed its state within the last 24 hours.

Returns: a vector of plan statuses.

◆ list_plan_statuses() [2/3]

std::vector< Motion::plan_status_with_id > viam::sdk::impl::MotionClient::list_plan_statuses ( const ProtoStruct & extra )

overridevirtual

Returns the status of plans created by MoveOnGlobe requests. Includes statuses of plans that are executing, or are part of an execution that changed its state within the last 24 hours.

Parameters

extra Any additional arguments to the method.

Returns: a vector of plan statuses.

Implements viam::sdk::Motion.

◆ list_plan_statuses() [3/3]

virtual std::vector< plan_status_with_id > viam::sdk::Motion::list_plan_statuses ( const ProtoStruct & extra )

virtual

Returns the status of plans created by MoveOnGlobe requests. Includes statuses of plans that are executing, or are part of an execution that changed its state within the last 24 hours.

Parameters

extra Any additional arguments to the method.

Returns: a vector of plan statuses.

Implements viam::sdk::Motion.

◆ move() [1/3]

bool viam::sdk::impl::MotionClient::move	(	const pose_in_frame &	destination,
		const std::string &	name,
		const std::shared_ptr< WorldState > &	world_state,
		const std::shared_ptr< constraints > &	constraints,
		const ProtoStruct &	extra )

overridevirtual

Moves any compononent on the robot to a specified destination.

Parameters

destination	Where to move the component to.
name	Name of the component to be moved.
world_state	Obstacles to avoid and transforms to add to the robot for the duration of the move.
constraints	Constraints to apply to how the robot will move.
extra	Any additional arguments to the method.

Returns: Whether or not the move was successful.

Implements viam::sdk::Motion.

◆ move() [2/3]

bool viam::sdk::Motion::move	(	const pose_in_frame &	destination,
		const std::string &	name,
		const std::shared_ptr< WorldState > &	world_state,
		const std::shared_ptr< constraints > &	constraints )

inline

Moves any compononent on the robot to a specified destination.

Parameters

destination	Where to move the component to.
name	Name of the component to be moved.
world_state	Obstacles to avoid and transforms to add to the robot for the duration of the move.
constraints	Constraints to apply to how the robot will move.

Returns: Whether or not the move was successful.

◆ move() [3/3]

virtual bool viam::sdk::Motion::move	(	const pose_in_frame &	destination,
		const std::string &	name,
		const std::shared_ptr< WorldState > &	world_state,
		const std::shared_ptr< constraints > &	constraints,
		const ProtoStruct &	extra )

virtual

Moves any compononent on the robot to a specified destination.

Parameters

destination	Where to move the component to.
name	Name of the component to be moved.
world_state	Obstacles to avoid and transforms to add to the robot for the duration of the move.
constraints	Constraints to apply to how the robot will move.
extra	Any additional arguments to the method.

Returns: Whether or not the move was successful.

Implements viam::sdk::Motion.

◆ move_on_globe() [1/3]

std::string viam::sdk::Motion::move_on_globe	(	const geo_point &	destination,
		const boost::optional< double > &	heading,
		const std::string &	component_name,
		const std::string &	movement_sensor_name,
		const std::vector< geo_geometry > &	obstacles,
		const std::shared_ptr< motion_configuration > &	motion_configuration,
		const std::vector< geo_geometry > &	bounding_regions )

inline

Moves any component on the robot to a specific destination on a globe.

Parameters

destination	The destination to move to.
heading	Optional compass heading to achieve at the destination in degrees [0-360).
component_name	The name of the component to move.
movement_sensor_name	The name of the movement sensor used to check robot location.
obstacles	Obstacles to be considered for motion planning.
motion_configuration	Optional set of motion configuration options.
bounding_regions	Set of obstacles which the robot must remain within while navigating.

Returns: The execution ID of the move_on_globe request.

◆ move_on_globe() [2/3]

std::string viam::sdk::impl::MotionClient::move_on_globe	(	const geo_point &	destination,
		const boost::optional< double > &	heading,
		const std::string &	component_name,
		const std::string &	movement_sensor_name,
		const std::vector< geo_geometry > &	obstacles,
		const std::shared_ptr< motion_configuration > &	motion_configuration,
		const std::vector< geo_geometry > &	bounding_regions,
		const ProtoStruct &	extra )

overridevirtual

Moves any component on the robot to a specific destination on a globe.

Parameters

destination	The destination to move to.
heading	Optional compass heading to achieve at the destination in degrees [0-360).
component_name	The name of the component to move.
movement_sensor_name	The name of the movement sensor used to check robot location.
obstacles	Obstacles to be considered for motion planning.
motion_configuration	Optional set of motion configuration options.
bounding_regions	Set of obstacles which the robot must remain within while navigating.
extra	Any additional arguments to the method.

Returns: The execution_id of the move_on_globe request.

Implements viam::sdk::Motion.

◆ move_on_globe() [3/3]

virtual std::string viam::sdk::Motion::move_on_globe	(	const geo_point &	destination,
		const boost::optional< double > &	heading,
		const std::string &	component_name,
		const std::string &	movement_sensor_name,
		const std::vector< geo_geometry > &	obstacles,
		const std::shared_ptr< motion_configuration > &	motion_configuration,
		const std::vector< geo_geometry > &	bounding_regions,
		const ProtoStruct &	extra )

virtual

Moves any component on the robot to a specific destination on a globe.

Parameters

destination	The destination to move to.
heading	Optional compass heading to achieve at the destination in degrees [0-360).
component_name	The name of the component to move.
movement_sensor_name	The name of the movement sensor used to check robot location.
obstacles	Obstacles to be considered for motion planning.
motion_configuration	Optional set of motion configuration options.
bounding_regions	Set of obstacles which the robot must remain within while navigating.
extra	Any additional arguments to the method.

Returns: The execution_id of the move_on_globe request.

Implements viam::sdk::Motion.

◆ move_on_map() [1/3]

std::string viam::sdk::Motion::move_on_map	(	const pose &	destination,
		const std::string &	component_name,
		const std::string &	slam_name,
		const std::shared_ptr< motion_configuration > &	motion_configuration,
		const std::vector< GeometryConfig > &	obstacles )

inline

Moves any component on the robot to a specific destination on a SLAM map.

Parameters

destination	The destination to move to.
component_name	The component to move.
slam_name	The name of the slam service from which the SLAM map is requested.
motion_configuration	Optional set of motion configuration options.

Returns: The execution ID of the move_on_map request.

◆ move_on_map() [2/3]

std::string viam::sdk::impl::MotionClient::move_on_map	(	const pose &	destination,
		const std::string &	component_name,
		const std::string &	slam_name,
		const std::shared_ptr< motion_configuration > &	motion_configuration,
		const std::vector< GeometryConfig > &	obstacles,
		const ProtoStruct &	extra )

overridevirtual

Moves any component on the robot to a specific destination on a SLAM map.

Parameters

destination	The destination to move to.
component_name	The component to move.
slam_name	The name of the slam service from which the SLAM map is requested.
motion_configuration	Optional set of motion configuration options.
extra	Any additional arguments to the method.

Returns: The execution ID of the move_on_map request.

Implements viam::sdk::Motion.

◆ move_on_map() [3/3]

virtual std::string viam::sdk::Motion::move_on_map	(	const pose &	destination,
		const std::string &	component_name,
		const std::string &	slam_name,
		const std::shared_ptr< motion_configuration > &	motion_configuration,
		const std::vector< GeometryConfig > &	obstacles,
		const ProtoStruct &	extra )

virtual

Moves any component on the robot to a specific destination on a SLAM map.

Parameters

destination	The destination to move to.
component_name	The component to move.
slam_name	The name of the slam service from which the SLAM map is requested.
motion_configuration	Optional set of motion configuration options.
extra	Any additional arguments to the method.

Returns: The execution ID of the move_on_map request.

Implements viam::sdk::Motion.

◆ stop_plan() [1/3]

void viam::sdk::Motion::stop_plan ( const std::string & component_name )

inline

Stop a currently executing motion plan.

Parameters

component_name the component of the currently executing plan to stop.

◆ stop_plan() [2/3]

void viam::sdk::impl::MotionClient::stop_plan	(	const std::string &	component_name,
		const ProtoStruct &	extra )

overridevirtual

Stop a currently executing motion plan.

Parameters

component_name	the component of the currently executing plan to stop.
extra	Any additional arguments to the method.

Implements viam::sdk::Motion.

◆ stop_plan() [3/3]

virtual void viam::sdk::Motion::stop_plan	(	const std::string &	component_name,
		const ProtoStruct &	extra )

virtual

Stop a currently executing motion plan.

Parameters

component_name	the component of the currently executing plan to stop.
extra	Any additional arguments to the method.

Implements viam::sdk::Motion.

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

src/viam/sdk/services/private/motion_client.hpp

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ do_command()

◆ get_latest_plan() [1/3]

◆ get_latest_plan() [2/3]

◆ get_latest_plan() [3/3]

◆ get_latest_plan_with_replan_history() [1/3]

◆ get_latest_plan_with_replan_history() [2/3]

◆ get_latest_plan_with_replan_history() [3/3]

◆ get_plan() [1/3]

◆ get_plan() [2/3]

◆ get_plan() [3/3]

◆ get_plan_with_replan_history() [1/3]

◆ get_plan_with_replan_history() [2/3]

◆ get_plan_with_replan_history() [3/3]

◆ get_pose() [1/3]

◆ get_pose() [2/3]

◆ get_pose() [3/3]

◆ list_active_plan_statuses() [1/3]

◆ list_active_plan_statuses() [2/3]

◆ list_active_plan_statuses() [3/3]

◆ list_plan_statuses() [1/3]

◆ list_plan_statuses() [2/3]

◆ list_plan_statuses() [3/3]

◆ move() [1/3]

◆ move() [2/3]

◆ move() [3/3]

◆ move_on_globe() [1/3]

◆ move_on_globe() [2/3]

◆ move_on_globe() [3/3]

◆ move_on_map() [1/3]

◆ move_on_map() [2/3]

◆ move_on_map() [3/3]

◆ stop_plan() [1/3]

◆ stop_plan() [2/3]

◆ stop_plan() [3/3]