v1

package
v0.1.34 Latest Latest
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 Go to latest Published: Dec 30, 2022 License: Apache-2.0 Imports: 5 Imported by: 37

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Index

Constants

This section is empty.

Variables

View Source 
var (
	// safety_heartbeat_monitored is used on methods to signify that if a session is in use
	// and the session was the last to call this method, the resource associated with the
	// method will be stopped.
	//
	// optional bool safety_heartbeat_monitored = 84260;
	E_SafetyHeartbeatMonitored = &file_common_v1_common_proto_extTypes[0]
)

Extension fields to descriptorpb.MethodOptions.

View Source 
var File_common_v1_common_proto protoreflect.FileDescriptor

Functions

This section is empty.

Types

type ActuatorStatus 

type ActuatorStatus struct {
	IsMoving bool `protobuf:"varint,1,opt,name=is_moving,json=isMoving,proto3" json:"is_moving,omitempty"`
	// contains filtered or unexported fields
}

ActuatorStatus is a generic status for resources that only need to return actuator status.

func (*ActuatorStatus) Descriptor deprecated 

func (*ActuatorStatus) Descriptor() ([]byte, []int)

Deprecated: Use ActuatorStatus.ProtoReflect.Descriptor instead.

func (*ActuatorStatus) GetIsMoving 

func (x *ActuatorStatus) GetIsMoving() bool

func (*ActuatorStatus) ProtoMessage 

func (*ActuatorStatus) ProtoMessage()

func (*ActuatorStatus) ProtoReflect 

func (x *ActuatorStatus) ProtoReflect() protoreflect.Message

func (*ActuatorStatus) Reset 

func (x *ActuatorStatus) Reset()

func (*ActuatorStatus) String 

func (x *ActuatorStatus) String() string

type AnalogStatus 

type AnalogStatus struct {

	// Current value of the analog reader of a robot's board
	Value int32 `protobuf:"varint,1,opt,name=value,proto3" json:"value,omitempty"`
	// contains filtered or unexported fields
}

func (*AnalogStatus) Descriptor deprecated 

func (*AnalogStatus) Descriptor() ([]byte, []int)

Deprecated: Use AnalogStatus.ProtoReflect.Descriptor instead.

func (*AnalogStatus) GetValue 

func (x *AnalogStatus) GetValue() int32

func (*AnalogStatus) ProtoMessage 

func (*AnalogStatus) ProtoMessage()

func (*AnalogStatus) ProtoReflect 

func (x *AnalogStatus) ProtoReflect() protoreflect.Message

func (*AnalogStatus) Reset 

func (x *AnalogStatus) Reset()

func (*AnalogStatus) String 

func (x *AnalogStatus) String() string

type BoardStatus 

type BoardStatus struct {
	Analogs           map[string]*AnalogStatus           `` /* 155-byte string literal not displayed */
	DigitalInterrupts map[string]*DigitalInterruptStatus `` /* 200-byte string literal not displayed */
	// contains filtered or unexported fields
}

func (*BoardStatus) Descriptor deprecated 

func (*BoardStatus) Descriptor() ([]byte, []int)

Deprecated: Use BoardStatus.ProtoReflect.Descriptor instead.

func (*BoardStatus) GetAnalogs 

func (x *BoardStatus) GetAnalogs() map[string]*AnalogStatus

func (*BoardStatus) GetDigitalInterrupts 

func (x *BoardStatus) GetDigitalInterrupts() map[string]*DigitalInterruptStatus

func (*BoardStatus) ProtoMessage 

func (*BoardStatus) ProtoMessage()

func (*BoardStatus) ProtoReflect 

func (x *BoardStatus) ProtoReflect() protoreflect.Message

func (*BoardStatus) Reset 

func (x *BoardStatus) Reset()

func (*BoardStatus) String 

func (x *BoardStatus) String() string

type DigitalInterruptStatus 

type DigitalInterruptStatus struct {

	// Current value of the digital interrupt of a robot's board
	Value int64 `protobuf:"varint,1,opt,name=value,proto3" json:"value,omitempty"`
	// contains filtered or unexported fields
}

func (*DigitalInterruptStatus) Descriptor deprecated 

func (*DigitalInterruptStatus) Descriptor() ([]byte, []int)

Deprecated: Use DigitalInterruptStatus.ProtoReflect.Descriptor instead.

func (*DigitalInterruptStatus) GetValue 

func (x *DigitalInterruptStatus) GetValue() int64

func (*DigitalInterruptStatus) ProtoMessage 

func (*DigitalInterruptStatus) ProtoMessage()

func (*DigitalInterruptStatus) ProtoReflect 

func (x *DigitalInterruptStatus) ProtoReflect() protoreflect.Message

func (*DigitalInterruptStatus) Reset 

func (x *DigitalInterruptStatus) Reset()

func (*DigitalInterruptStatus) String 

func (x *DigitalInterruptStatus) String() string

type GeoPoint 

type GeoPoint struct {
	Latitude  float64 `protobuf:"fixed64,1,opt,name=latitude,proto3" json:"latitude,omitempty"`
	Longitude float64 `protobuf:"fixed64,2,opt,name=longitude,proto3" json:"longitude,omitempty"`
	// contains filtered or unexported fields
}

func (*GeoPoint) Descriptor deprecated 

func (*GeoPoint) Descriptor() ([]byte, []int)

Deprecated: Use GeoPoint.ProtoReflect.Descriptor instead.

func (*GeoPoint) GetLatitude 

func (x *GeoPoint) GetLatitude() float64

func (*GeoPoint) GetLongitude 

func (x *GeoPoint) GetLongitude() float64

func (*GeoPoint) ProtoMessage 

func (*GeoPoint) ProtoMessage()

func (*GeoPoint) ProtoReflect 

func (x *GeoPoint) ProtoReflect() protoreflect.Message

func (*GeoPoint) Reset 

func (x *GeoPoint) Reset()

func (*GeoPoint) String 

func (x *GeoPoint) String() string

type GeometriesInFrame 

type GeometriesInFrame struct {

	// Reference frame of the observer of the geometry
	ReferenceFrame string `protobuf:"bytes,1,opt,name=reference_frame,json=referenceFrame,proto3" json:"reference_frame,omitempty"`
	// Dimensional type
	Geometries []*Geometry `protobuf:"bytes,2,rep,name=geometries,proto3" json:"geometries,omitempty"`
	// contains filtered or unexported fields
}

GeometriesinFrame contains the dimensions of a given geometry, pose of its center point, and the reference frame by which it was observed.

func (*GeometriesInFrame) Descriptor deprecated 

func (*GeometriesInFrame) Descriptor() ([]byte, []int)

Deprecated: Use GeometriesInFrame.ProtoReflect.Descriptor instead.

func (*GeometriesInFrame) GetGeometries 

func (x *GeometriesInFrame) GetGeometries() []*Geometry

func (*GeometriesInFrame) GetReferenceFrame 

func (x *GeometriesInFrame) GetReferenceFrame() string

func (*GeometriesInFrame) ProtoMessage 

func (*GeometriesInFrame) ProtoMessage()

func (*GeometriesInFrame) ProtoReflect 

func (x *GeometriesInFrame) ProtoReflect() protoreflect.Message

func (*GeometriesInFrame) Reset 

func (x *GeometriesInFrame) Reset()

func (*GeometriesInFrame) String 

func (x *GeometriesInFrame) String() string

type Geometry 

type Geometry struct {

	// Pose of a gemetries center point
	Center *Pose `protobuf:"bytes,1,opt,name=center,proto3" json:"center,omitempty"`
	// Dimensions of a given geometry. This can be a sphere or box
	//
	// Types that are assignable to GeometryType:
	//
	//	*Geometry_Sphere
	//	*Geometry_Box
	GeometryType isGeometry_GeometryType `protobuf_oneof:"geometry_type"`
	// Label of the geometry. If none supplied, will be an empty string.
	Label string `protobuf:"bytes,4,opt,name=label,proto3" json:"label,omitempty"`
	// contains filtered or unexported fields
}

Geometry contains the dimensions of a given geometry and the pose of its center. The geometry is one of either a sphere or a box.

func (*Geometry) Descriptor deprecated 

func (*Geometry) Descriptor() ([]byte, []int)

Deprecated: Use Geometry.ProtoReflect.Descriptor instead.

func (*Geometry) GetBox 

func (x *Geometry) GetBox() *RectangularPrism

func (*Geometry) GetCenter 

func (x *Geometry) GetCenter() *Pose

func (*Geometry) GetGeometryType 

func (m *Geometry) GetGeometryType() isGeometry_GeometryType

func (*Geometry) GetLabel added in v0.1.1 

func (x *Geometry) GetLabel() string

func (*Geometry) GetSphere 

func (x *Geometry) GetSphere() *Sphere

func (*Geometry) ProtoMessage 

func (*Geometry) ProtoMessage()

func (*Geometry) ProtoReflect 

func (x *Geometry) ProtoReflect() protoreflect.Message

func (*Geometry) Reset 

func (x *Geometry) Reset()

func (*Geometry) String 

func (x *Geometry) String() string

type Geometry_Box 

type Geometry_Box struct {
	Box *RectangularPrism `protobuf:"bytes,3,opt,name=box,proto3,oneof"`
}

type Geometry_Sphere 

type Geometry_Sphere struct {
	Sphere *Sphere `protobuf:"bytes,2,opt,name=sphere,proto3,oneof"`
}

type Orientation 

type Orientation struct {

	// x component of a vector defining axis of rotation
	OX float64 `protobuf:"fixed64,1,opt,name=o_x,json=oX,proto3" json:"o_x,omitempty"`
	// y component of a vector defining axis of rotation
	OY float64 `protobuf:"fixed64,2,opt,name=o_y,json=oY,proto3" json:"o_y,omitempty"`
	// z component of a vector defining axis of rotation
	OZ float64 `protobuf:"fixed64,3,opt,name=o_z,json=oZ,proto3" json:"o_z,omitempty"`
	// degrees
	Theta float64 `protobuf:"fixed64,4,opt,name=theta,proto3" json:"theta,omitempty"`
	// contains filtered or unexported fields
}

func (*Orientation) Descriptor deprecated 

func (*Orientation) Descriptor() ([]byte, []int)

Deprecated: Use Orientation.ProtoReflect.Descriptor instead.

func (*Orientation) GetOX 

func (x *Orientation) GetOX() float64

func (*Orientation) GetOY 

func (x *Orientation) GetOY() float64

func (*Orientation) GetOZ 

func (x *Orientation) GetOZ() float64

func (*Orientation) GetTheta 

func (x *Orientation) GetTheta() float64

func (*Orientation) ProtoMessage 

func (*Orientation) ProtoMessage()

func (*Orientation) ProtoReflect 

func (x *Orientation) ProtoReflect() protoreflect.Message

func (*Orientation) Reset 

func (x *Orientation) Reset()

func (*Orientation) String 

func (x *Orientation) String() string

type PointCloudObject 

type PointCloudObject struct {

	// image frame expressed in bytes
	PointCloud []byte `protobuf:"bytes,1,opt,name=point_cloud,json=pointCloud,proto3" json:"point_cloud,omitempty"`
	// volume of a given geometry
	Geometries *GeometriesInFrame `protobuf:"bytes,2,opt,name=geometries,proto3" json:"geometries,omitempty"`
	// contains filtered or unexported fields
}

PointCloudObject contains an image in bytes with point cloud data of all of the objects captured by a given observer as well as a repeated list of geometries which respresents the center point and geometry of each of the objects within the point cloud

func (*PointCloudObject) Descriptor deprecated 

func (*PointCloudObject) Descriptor() ([]byte, []int)

Deprecated: Use PointCloudObject.ProtoReflect.Descriptor instead.

func (*PointCloudObject) GetGeometries 

func (x *PointCloudObject) GetGeometries() *GeometriesInFrame

func (*PointCloudObject) GetPointCloud 

func (x *PointCloudObject) GetPointCloud() []byte

func (*PointCloudObject) ProtoMessage 

func (*PointCloudObject) ProtoMessage()

func (*PointCloudObject) ProtoReflect 

func (x *PointCloudObject) ProtoReflect() protoreflect.Message

func (*PointCloudObject) Reset 

func (x *PointCloudObject) Reset()

func (*PointCloudObject) String 

func (x *PointCloudObject) String() string

type Pose 

type Pose struct {

	// millimeters from the origin
	X float64 `protobuf:"fixed64,1,opt,name=x,proto3" json:"x,omitempty"`
	// millimeters from the origin
	Y float64 `protobuf:"fixed64,2,opt,name=y,proto3" json:"y,omitempty"`
	// millimeters from the origin
	Z float64 `protobuf:"fixed64,3,opt,name=z,proto3" json:"z,omitempty"`
	// z component of a vector defining axis of rotation
	OX float64 `protobuf:"fixed64,4,opt,name=o_x,json=oX,proto3" json:"o_x,omitempty"`
	// x component of a vector defining axis of rotation
	OY float64 `protobuf:"fixed64,5,opt,name=o_y,json=oY,proto3" json:"o_y,omitempty"`
	// y component of a vector defining axis of rotation
	OZ float64 `protobuf:"fixed64,6,opt,name=o_z,json=oZ,proto3" json:"o_z,omitempty"`
	// degrees
	Theta float64 `protobuf:"fixed64,7,opt,name=theta,proto3" json:"theta,omitempty"`
	// contains filtered or unexported fields
}

Pose is a combination of location and orientation. Location is expressed as distance which is represented by x , y, z coordinates. Orientation is expressed as an orientation vector which is represented by o_x, o_y, o_z and theta. The o_x, o_y, o_z coordinates represent the point on the cartesian unit sphere that the end of the arm is pointing to (with the origin as reference). That unit vector forms an axis around which theta rotates. This means that incrementing / decrementing theta will perform an inline rotation of the end effector. Theta is defined as rotation between two planes: the first being defined by the origin, the point (0,0,1), and the rx, ry, rz point, and the second being defined by the origin, the rx, ry, rz point and the local Z axis. Therefore, if theta is kept at zero as the north/south pole is circled, the Roll will correct itself to remain in-line.

func (*Pose) Descriptor deprecated 

func (*Pose) Descriptor() ([]byte, []int)

Deprecated: Use Pose.ProtoReflect.Descriptor instead.

func (*Pose) GetOX 

func (x *Pose) GetOX() float64

func (*Pose) GetOY 

func (x *Pose) GetOY() float64

func (*Pose) GetOZ 

func (x *Pose) GetOZ() float64

func (*Pose) GetTheta 

func (x *Pose) GetTheta() float64

func (*Pose) GetX 

func (x *Pose) GetX() float64

func (*Pose) GetY 

func (x *Pose) GetY() float64

func (*Pose) GetZ 

func (x *Pose) GetZ() float64

func (*Pose) ProtoMessage 

func (*Pose) ProtoMessage()

func (*Pose) ProtoReflect 

func (x *Pose) ProtoReflect() protoreflect.Message

func (*Pose) Reset 

func (x *Pose) Reset()

func (*Pose) String 

func (x *Pose) String() string

type PoseInFrame 

type PoseInFrame struct {
	ReferenceFrame string `protobuf:"bytes,1,opt,name=reference_frame,json=referenceFrame,proto3" json:"reference_frame,omitempty"`
	Pose           *Pose  `protobuf:"bytes,2,opt,name=pose,proto3" json:"pose,omitempty"`
	// contains filtered or unexported fields
}

PoseInFrame contains a pose and the and the reference frame in which it was observed

func (*PoseInFrame) Descriptor deprecated 

func (*PoseInFrame) Descriptor() ([]byte, []int)

Deprecated: Use PoseInFrame.ProtoReflect.Descriptor instead.

func (*PoseInFrame) GetPose 

func (x *PoseInFrame) GetPose() *Pose

func (*PoseInFrame) GetReferenceFrame 

func (x *PoseInFrame) GetReferenceFrame() string

func (*PoseInFrame) ProtoMessage 

func (*PoseInFrame) ProtoMessage()

func (*PoseInFrame) ProtoReflect 

func (x *PoseInFrame) ProtoReflect() protoreflect.Message

func (*PoseInFrame) Reset 

func (x *PoseInFrame) Reset()

func (*PoseInFrame) String 

func (x *PoseInFrame) String() string

type RectangularPrism 

type RectangularPrism struct {
	DimsMm *Vector3 `protobuf:"bytes,1,opt,name=dims_mm,json=dimsMm,proto3" json:"dims_mm,omitempty"`
	// contains filtered or unexported fields
}

RectangularPrism contains a Vector3 field corresponding to the X, Y, Z dimensions of the prism in mms These dimensions are with respect to the referenceframe in which the RectangularPrism is defined

func (*RectangularPrism) Descriptor deprecated 

func (*RectangularPrism) Descriptor() ([]byte, []int)

Deprecated: Use RectangularPrism.ProtoReflect.Descriptor instead.

func (*RectangularPrism) GetDimsMm 

func (x *RectangularPrism) GetDimsMm() *Vector3

func (*RectangularPrism) ProtoMessage 

func (*RectangularPrism) ProtoMessage()

func (*RectangularPrism) ProtoReflect 

func (x *RectangularPrism) ProtoReflect() protoreflect.Message

func (*RectangularPrism) Reset 

func (x *RectangularPrism) Reset()

func (*RectangularPrism) String 

func (x *RectangularPrism) String() string

type ResourceName 

type ResourceName struct {
	Namespace string `protobuf:"bytes,1,opt,name=namespace,proto3" json:"namespace,omitempty"`
	Type      string `protobuf:"bytes,2,opt,name=type,proto3" json:"type,omitempty"`
	Subtype   string `protobuf:"bytes,3,opt,name=subtype,proto3" json:"subtype,omitempty"`
	Name      string `protobuf:"bytes,4,opt,name=name,proto3" json:"name,omitempty"`
	// contains filtered or unexported fields
}

func (*ResourceName) Descriptor deprecated 

func (*ResourceName) Descriptor() ([]byte, []int)

Deprecated: Use ResourceName.ProtoReflect.Descriptor instead.

func (*ResourceName) GetName 

func (x *ResourceName) GetName() string

func (*ResourceName) GetNamespace 

func (x *ResourceName) GetNamespace() string

func (*ResourceName) GetSubtype 

func (x *ResourceName) GetSubtype() string

func (*ResourceName) GetType 

func (x *ResourceName) GetType() string

func (*ResourceName) ProtoMessage 

func (*ResourceName) ProtoMessage()

func (*ResourceName) ProtoReflect 

func (x *ResourceName) ProtoReflect() protoreflect.Message

func (*ResourceName) Reset 

func (x *ResourceName) Reset()

func (*ResourceName) String 

func (x *ResourceName) String() string

type Sphere 

type Sphere struct {
	RadiusMm float64 `protobuf:"fixed64,1,opt,name=radius_mm,json=radiusMm,proto3" json:"radius_mm,omitempty"`
	// contains filtered or unexported fields
}

func (*Sphere) Descriptor deprecated 

func (*Sphere) Descriptor() ([]byte, []int)

Deprecated: Use Sphere.ProtoReflect.Descriptor instead.

func (*Sphere) GetRadiusMm 

func (x *Sphere) GetRadiusMm() float64

func (*Sphere) ProtoMessage 

func (*Sphere) ProtoMessage()

func (*Sphere) ProtoReflect 

func (x *Sphere) ProtoReflect() protoreflect.Message

func (*Sphere) Reset 

func (x *Sphere) Reset()

func (*Sphere) String 

func (x *Sphere) String() string

type Transform 

type Transform struct {

	// the name of a given reference frame
	ReferenceFrame string `protobuf:"bytes,1,opt,name=reference_frame,json=referenceFrame,proto3" json:"reference_frame,omitempty"`
	// the pose of the above reference frame with respect to a different observer reference frame
	PoseInObserverFrame *PoseInFrame `protobuf:"bytes,2,opt,name=pose_in_observer_frame,json=poseInObserverFrame,proto3" json:"pose_in_observer_frame,omitempty"`
	PhysicalObject      *Geometry    `protobuf:"bytes,3,opt,name=physical_object,json=physicalObject,proto3,oneof" json:"physical_object,omitempty"`
	// contains filtered or unexported fields
}

Transform contains a pose and two reference frames. The first reference frame is the starting reference frame, and the second reference frame is the observer reference frame. The second reference frame has a pose which represents the pose of an object in the first reference frame as observed within the second reference frame.

func (*Transform) Descriptor deprecated 

func (*Transform) Descriptor() ([]byte, []int)

Deprecated: Use Transform.ProtoReflect.Descriptor instead.

func (*Transform) GetPhysicalObject added in v0.1.20 

func (x *Transform) GetPhysicalObject() *Geometry

func (*Transform) GetPoseInObserverFrame 

func (x *Transform) GetPoseInObserverFrame() *PoseInFrame

func (*Transform) GetReferenceFrame 

func (x *Transform) GetReferenceFrame() string

func (*Transform) ProtoMessage 

func (*Transform) ProtoMessage()

func (*Transform) ProtoReflect 

func (x *Transform) ProtoReflect() protoreflect.Message

func (*Transform) Reset 

func (x *Transform) Reset()

func (*Transform) String 

func (x *Transform) String() string

type Vector3 

type Vector3 struct {
	X float64 `protobuf:"fixed64,1,opt,name=x,proto3" json:"x,omitempty"`
	Y float64 `protobuf:"fixed64,2,opt,name=y,proto3" json:"y,omitempty"`
	Z float64 `protobuf:"fixed64,3,opt,name=z,proto3" json:"z,omitempty"`
	// contains filtered or unexported fields
}

func (*Vector3) Descriptor deprecated 

func (*Vector3) Descriptor() ([]byte, []int)

Deprecated: Use Vector3.ProtoReflect.Descriptor instead.

func (*Vector3) GetX 

func (x *Vector3) GetX() float64

func (*Vector3) GetY 

func (x *Vector3) GetY() float64

func (*Vector3) GetZ 

func (x *Vector3) GetZ() float64

func (*Vector3) ProtoMessage 

func (*Vector3) ProtoMessage()

func (*Vector3) ProtoReflect 

func (x *Vector3) ProtoReflect() protoreflect.Message

func (*Vector3) Reset 

func (x *Vector3) Reset()

func (*Vector3) String 

func (x *Vector3) String() string

type WorldState 

type WorldState struct {

	// a list of obstacles expressed as a geometry and the reference frame in which it was observed; this field is optional
	Obstacles []*GeometriesInFrame `protobuf:"bytes,1,rep,name=obstacles,proto3" json:"obstacles,omitempty"`
	// a list of spaces the robot is allowed to operate within expressed as a geometry and the reference frame it is measured from;
	// this field is optional
	InteractionSpaces []*GeometriesInFrame `protobuf:"bytes,2,rep,name=interaction_spaces,json=interactionSpaces,proto3" json:"interaction_spaces,omitempty"`
	// a list of Transforms, optionally with geometries. Used as supplemental transforms to transform a pose from one reference frame to another, or to attach moving geometries to the frame system. This field is optional
	Transforms []*Transform `protobuf:"bytes,3,rep,name=transforms,proto3" json:"transforms,omitempty"`
	// contains filtered or unexported fields
}

WorldState contains information about the physical environment around a given robot. All of the fields within this message are optional, they can include information about the physical dimensions of an obstacle, the freespace of a robot, and any desired transforms between a given reference frame and a new target reference frame.

func (*WorldState) Descriptor deprecated 

func (*WorldState) Descriptor() ([]byte, []int)

Deprecated: Use WorldState.ProtoReflect.Descriptor instead.

func (*WorldState) GetInteractionSpaces 

func (x *WorldState) GetInteractionSpaces() []*GeometriesInFrame

func (*WorldState) GetObstacles 

func (x *WorldState) GetObstacles() []*GeometriesInFrame

func (*WorldState) GetTransforms 

func (x *WorldState) GetTransforms() []*Transform

func (*WorldState) ProtoMessage 

func (*WorldState) ProtoMessage()

func (*WorldState) ProtoReflect 

func (x *WorldState) ProtoReflect() protoreflect.Message

func (*WorldState) Reset 

func (x *WorldState) Reset()

func (*WorldState) String 

func (x *WorldState) String() string

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