viam::sdk::impl::NavigationClient Class Reference

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

#include <navigation_client.hpp>

Inheritance diagram for viam::sdk::impl::NavigationClient:

Public Types
using	interface_type = Navigation
Public Types inherited from viam::sdk::Navigation
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
	NavigationClient (std::string name, std::shared_ptr< grpc::Channel > channel)
Mode	get_mode (const ProtoStruct &extra) override
	Get the current mode.
void	set_mode (const Mode mode, const ProtoStruct &extra) override
	Set the current mode.
LocationResponse	get_location (const ProtoStruct &extra) override
	Get the current location.
std::vector< Waypoint >	get_waypoints (const ProtoStruct &extra) override
	Get the waypoints this nav service knows about.
void	add_waypoint (const geo_point &location, const ProtoStruct &extra) override
	Add a waypoint.
void	remove_waypoint (const std::string id, const ProtoStruct &extra) override
	Remove a waypoint by ID.
std::vector< geo_geometry >	get_obstacles (const ProtoStruct &extra) override
	Get the obstacles this nav service knows about.
std::vector< Path >	get_paths (const ProtoStruct &extra) override
	Get the paths this nav service knows about.
Properties	get_properties () override
	Get this nav service's properties.
ProtoStruct	do_command (const ProtoStruct &command) override
	Do an arbitrary command.
Public Member Functions inherited from viam::sdk::Navigation
API	api () const override
	Returns the API associated with a particular resource.
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.

Additional Inherited Members
Protected Member Functions inherited from viam::sdk::Navigation
	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

Detailed Description

gRPC client implementation of a Navigation service.

Member Function Documentation

add_waypoint()

void viam::sdk::impl::NavigationClient::add_waypoint ( const geo_point & location, const ProtoStruct & extra )

overridevirtual

Add a waypoint.

Parameters

location

Coordinate of the new waypoint.

Implements viam::sdk::Navigation.

do_command()

ProtoStruct viam::sdk::impl::NavigationClient::do_command ( const ProtoStruct & command )

overridevirtual

Do an arbitrary command.

Parameters

command

Freeform fields that are service-specific.

Returns

Freeform result of the command.

Implements viam::sdk::Navigation.

get_location()

LocationResponse viam::sdk::impl::NavigationClient::get_location ( const ProtoStruct & extra )

overridevirtual

Get the current location.

Parameters

extra

Any additional arguments to the method.

Returns

Current location.

Implements viam::sdk::Navigation.

get_mode()

Mode viam::sdk::impl::NavigationClient::get_mode ( const ProtoStruct & extra )

overridevirtual

Get the current mode.

Parameters

extra

Any additional arguments to the method.

Returns

Current mode.

Implements viam::sdk::Navigation.

get_obstacles()

std::vector< geo_geometry > viam::sdk::impl::NavigationClient::get_obstacles ( const ProtoStruct & extra )

overridevirtual

Get the obstacles this nav service knows about.

Parameters

extra

Any additional arguments to the method.

Returns

List of shapes.

Implements viam::sdk::Navigation.

get_paths()

std::vector< Path > viam::sdk::impl::NavigationClient::get_paths ( const ProtoStruct & extra )

overridevirtual

Get the paths this nav service knows about.

Parameters

extra

Any additional arguments to the method.

Returns

List of paths.

Implements viam::sdk::Navigation.

get_properties()

Properties viam::sdk::impl::NavigationClient::get_properties ( )

overridevirtual

Get this nav service's properties.

Returns

Properties.

Implements viam::sdk::Navigation.

get_waypoints()

std::vector< Waypoint > viam::sdk::impl::NavigationClient::get_waypoints ( const ProtoStruct & extra )

overridevirtual

Get the waypoints this nav service knows about.

Parameters

extra

Any additional arguments to the method.

Returns

List of waypoints.

Implements viam::sdk::Navigation.

remove_waypoint()

void viam::sdk::impl::NavigationClient::remove_waypoint ( const std::string id, const ProtoStruct & extra )

overridevirtual

Remove a waypoint by ID.

Parameters

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

Implements viam::sdk::Navigation.

set_mode()

void viam::sdk::impl::NavigationClient::set_mode ( const Mode mode, const ProtoStruct & extra )

overridevirtual

Set the current mode.

Parameters

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

Implements viam::sdk::Navigation.

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

• src/viam/sdk/services/private/navigation_client.hpp