spot-sdk-js/bosdyn/api/spot/robot_command_pb.js

Develop applications and payloads for Spot using the unofficial Boston Dynamics Spot Node.js SDK.

// source: bosdyn/api/spot/robot_command.proto
/**
 * @fileoverview
 * @enhanceable
 * @suppress {missingRequire} reports error on implicit type usages.
 * @suppress {messageConventions} JS Compiler reports an error if a variable or
 *     field starts with 'MSG_' and isn't a translatable message.
 * @public
 */
// GENERATED CODE -- DO NOT EDIT!
/* eslint-disable */
// @ts-nocheck

var jspb = require('google-protobuf');
var goog = jspb;
var global = Function('return this')();

var bosdyn_api_geometry_pb = require('../../../bosdyn/api/geometry_pb.js');
goog.object.extend(proto, bosdyn_api_geometry_pb);
var bosdyn_api_trajectory_pb = require('../../../bosdyn/api/trajectory_pb.js');
goog.object.extend(proto, bosdyn_api_trajectory_pb);
var google_protobuf_wrappers_pb = require('google-protobuf/google/protobuf/wrappers_pb.js');
goog.object.extend(proto, google_protobuf_wrappers_pb);
goog.exportSymbol('proto.bosdyn.api.spot.BodyControlParams', null, global);
goog.exportSymbol('proto.bosdyn.api.spot.BodyControlParams.RotationSetting', null, global);
goog.exportSymbol('proto.bosdyn.api.spot.BodyExternalForceParams', null, global);
goog.exportSymbol('proto.bosdyn.api.spot.BodyExternalForceParams.ExternalForceIndicator', null, global);
goog.exportSymbol('proto.bosdyn.api.spot.LocomotionHint', null, global);
goog.exportSymbol('proto.bosdyn.api.spot.MobilityParams', null, global);
goog.exportSymbol('proto.bosdyn.api.spot.ObstacleParams', null, global);
goog.exportSymbol('proto.bosdyn.api.spot.SwingHeight', null, global);
goog.exportSymbol('proto.bosdyn.api.spot.TerrainParams', null, global);
goog.exportSymbol('proto.bosdyn.api.spot.TerrainParams.GratedSurfacesMode', null, global);
/**
 * Generated by JsPbCodeGenerator.
 * @param {Array=} opt_data Optional initial data array, typically from a
 * server response, or constructed directly in Javascript. The array is used
 * in place and becomes part of the constructed object. It is not cloned.
 * If no data is provided, the constructed object will be empty, but still
 * valid.
 * @extends {jspb.Message}
 * @constructor
 */
proto.bosdyn.api.spot.MobilityParams = function(opt_data) {
  jspb.Message.initialize(this, opt_data, 0, -1, null, null);
};
goog.inherits(proto.bosdyn.api.spot.MobilityParams, jspb.Message);
if (goog.DEBUG && !COMPILED) {
  /**
   * @public
   * @override
   */
  proto.bosdyn.api.spot.MobilityParams.displayName = 'proto.bosdyn.api.spot.MobilityParams';
}
/**
 * Generated by JsPbCodeGenerator.
 * @param {Array=} opt_data Optional initial data array, typically from a
 * server response, or constructed directly in Javascript. The array is used
 * in place and becomes part of the constructed object. It is not cloned.
 * If no data is provided, the constructed object will be empty, but still
 * valid.
 * @extends {jspb.Message}
 * @constructor
 */
proto.bosdyn.api.spot.BodyControlParams = function(opt_data) {
  jspb.Message.initialize(this, opt_data, 0, -1, null, null);
};
goog.inherits(proto.bosdyn.api.spot.BodyControlParams, jspb.Message);
if (goog.DEBUG && !COMPILED) {
  /**
   * @public
   * @override
   */
  proto.bosdyn.api.spot.BodyControlParams.displayName = 'proto.bosdyn.api.spot.BodyControlParams';
}
/**
 * Generated by JsPbCodeGenerator.
 * @param {Array=} opt_data Optional initial data array, typically from a
 * server response, or constructed directly in Javascript. The array is used
 * in place and becomes part of the constructed object. It is not cloned.
 * If no data is provided, the constructed object will be empty, but still
 * valid.
 * @extends {jspb.Message}
 * @constructor
 */
proto.bosdyn.api.spot.ObstacleParams = function(opt_data) {
  jspb.Message.initialize(this, opt_data, 0, -1, null, null);
};
goog.inherits(proto.bosdyn.api.spot.ObstacleParams, jspb.Message);
if (goog.DEBUG && !COMPILED) {
  /**
   * @public
   * @override
   */
  proto.bosdyn.api.spot.ObstacleParams.displayName = 'proto.bosdyn.api.spot.ObstacleParams';
}
/**
 * Generated by JsPbCodeGenerator.
 * @param {Array=} opt_data Optional initial data array, typically from a
 * server response, or constructed directly in Javascript. The array is used
 * in place and becomes part of the constructed object. It is not cloned.
 * If no data is provided, the constructed object will be empty, but still
 * valid.
 * @extends {jspb.Message}
 * @constructor
 */
proto.bosdyn.api.spot.TerrainParams = function(opt_data) {
  jspb.Message.initialize(this, opt_data, 0, -1, null, null);
};
goog.inherits(proto.bosdyn.api.spot.TerrainParams, jspb.Message);
if (goog.DEBUG && !COMPILED) {
  /**
   * @public
   * @override
   */
  proto.bosdyn.api.spot.TerrainParams.displayName = 'proto.bosdyn.api.spot.TerrainParams';
}
/**
 * Generated by JsPbCodeGenerator.
 * @param {Array=} opt_data Optional initial data array, typically from a
 * server response, or constructed directly in Javascript. The array is used
 * in place and becomes part of the constructed object. It is not cloned.
 * If no data is provided, the constructed object will be empty, but still
 * valid.
 * @extends {jspb.Message}
 * @constructor
 */
proto.bosdyn.api.spot.BodyExternalForceParams = function(opt_data) {
  jspb.Message.initialize(this, opt_data, 0, -1, null, null);
};
goog.inherits(proto.bosdyn.api.spot.BodyExternalForceParams, jspb.Message);
if (goog.DEBUG && !COMPILED) {
  /**
   * @public
   * @override
   */
  proto.bosdyn.api.spot.BodyExternalForceParams.displayName = 'proto.bosdyn.api.spot.BodyExternalForceParams';
}



if (jspb.Message.GENERATE_TO_OBJECT) {
/**
 * Creates an object representation of this proto.
 * Field names that are reserved in JavaScript and will be renamed to pb_name.
 * Optional fields that are not set will be set to undefined.
 * To access a reserved field use, foo.pb_<name>, eg, foo.pb_default.
 * For the list of reserved names please see:
 *     net/proto2/compiler/js/internal/generator.cc#kKeyword.
 * @param {boolean=} opt_includeInstance Deprecated. whether to include the
 *     JSPB instance for transitional soy proto support:
 *     http://goto/soy-param-migration
 * @return {!Object}
 */
proto.bosdyn.api.spot.MobilityParams.prototype.toObject = function(opt_includeInstance) {
  return proto.bosdyn.api.spot.MobilityParams.toObject(opt_includeInstance, this);
};


/**
 * Static version of the {@see toObject} method.
 * @param {boolean|undefined} includeInstance Deprecated. Whether to include
 *     the JSPB instance for transitional soy proto support:
 *     http://goto/soy-param-migration
 * @param {!proto.bosdyn.api.spot.MobilityParams} msg The msg instance to transform.
 * @return {!Object}
 * @suppress {unusedLocalVariables} f is only used for nested messages
 */
proto.bosdyn.api.spot.MobilityParams.toObject = function(includeInstance, msg) {
  var f, obj = {
    velLimit: (f = msg.getVelLimit()) && bosdyn_api_geometry_pb.SE2VelocityLimit.toObject(includeInstance, f),
    bodyControl: (f = msg.getBodyControl()) && proto.bosdyn.api.spot.BodyControlParams.toObject(includeInstance, f),
    locomotionHint: jspb.Message.getFieldWithDefault(msg, 3, 0),
    stairHint: jspb.Message.getBooleanFieldWithDefault(msg, 4, false),
    allowDegradedPerception: jspb.Message.getBooleanFieldWithDefault(msg, 5, false),
    obstacleParams: (f = msg.getObstacleParams()) && proto.bosdyn.api.spot.ObstacleParams.toObject(includeInstance, f),
    swingHeight: jspb.Message.getFieldWithDefault(msg, 7, 0),
    terrainParams: (f = msg.getTerrainParams()) && proto.bosdyn.api.spot.TerrainParams.toObject(includeInstance, f),
    disallowStairTracker: jspb.Message.getBooleanFieldWithDefault(msg, 9, false),
    externalForceParams: (f = msg.getExternalForceParams()) && proto.bosdyn.api.spot.BodyExternalForceParams.toObject(includeInstance, f),
    disallowNonStairsPitchLimiting: jspb.Message.getBooleanFieldWithDefault(msg, 11, false),
    disableNearmapCliffAvoidance: jspb.Message.getBooleanFieldWithDefault(msg, 12, false)
  };

  if (includeInstance) {
    obj.$jspbMessageInstance = msg;
  }
  return obj;
};
}


/**
 * Deserializes binary data (in protobuf wire format).
 * @param {jspb.ByteSource} bytes The bytes to deserialize.
 * @return {!proto.bosdyn.api.spot.MobilityParams}
 */
proto.bosdyn.api.spot.MobilityParams.deserializeBinary = function(bytes) {
  var reader = new jspb.BinaryReader(bytes);
  var msg = new proto.bosdyn.api.spot.MobilityParams;
  return proto.bosdyn.api.spot.MobilityParams.deserializeBinaryFromReader(msg, reader);
};


/**
 * Deserializes binary data (in protobuf wire format) from the
 * given reader into the given message object.
 * @param {!proto.bosdyn.api.spot.MobilityParams} msg The message object to deserialize into.
 * @param {!jspb.BinaryReader} reader The BinaryReader to use.
 * @return {!proto.bosdyn.api.spot.MobilityParams}
 */
proto.bosdyn.api.spot.MobilityParams.deserializeBinaryFromReader = function(msg, reader) {
  while (reader.nextField()) {
    if (reader.isEndGroup()) {
      break;
    }
    var field = reader.getFieldNumber();
    switch (field) {
    case 1:
      var value = new bosdyn_api_geometry_pb.SE2VelocityLimit;
      reader.readMessage(value,bosdyn_api_geometry_pb.SE2VelocityLimit.deserializeBinaryFromReader);
      msg.setVelLimit(value);
      break;
    case 2:
      var value = new proto.bosdyn.api.spot.BodyControlParams;
      reader.readMessage(value,proto.bosdyn.api.spot.BodyControlParams.deserializeBinaryFromReader);
      msg.setBodyControl(value);
      break;
    case 3:
      var value = /** @type {!proto.bosdyn.api.spot.LocomotionHint} */ (reader.readEnum());
      msg.setLocomotionHint(value);
      break;
    case 4:
      var value = /** @type {boolean} */ (reader.readBool());
      msg.setStairHint(value);
      break;
    case 5:
      var value = /** @type {boolean} */ (reader.readBool());
      msg.setAllowDegradedPerception(value);
      break;
    case 6:
      var value = new proto.bosdyn.api.spot.ObstacleParams;
      reader.readMessage(value,proto.bosdyn.api.spot.ObstacleParams.deserializeBinaryFromReader);
      msg.setObstacleParams(value);
      break;
    case 7:
      var value = /** @type {!proto.bosdyn.api.spot.SwingHeight} */ (reader.readEnum());
      msg.setSwingHeight(value);
      break;
    case 8:
      var value = new proto.bosdyn.api.spot.TerrainParams;
      reader.readMessage(value,proto.bosdyn.api.spot.TerrainParams.deserializeBinaryFromReader);
      msg.setTerrainParams(value);
      break;
    case 9:
      var value = /** @type {boolean} */ (reader.readBool());
      msg.setDisallowStairTracker(value);
      break;
    case 10:
      var value = new proto.bosdyn.api.spot.BodyExternalForceParams;
      reader.readMessage(value,proto.bosdyn.api.spot.BodyExternalForceParams.deserializeBinaryFromReader);
      msg.setExternalForceParams(value);
      break;
    case 11:
      var value = /** @type {boolean} */ (reader.readBool());
      msg.setDisallowNonStairsPitchLimiting(value);
      break;
    case 12:
      var value = /** @type {boolean} */ (reader.readBool());
      msg.setDisableNearmapCliffAvoidance(value);
      break;
    default:
      reader.skipField();
      break;
    }
  }
  return msg;
};


/**
 * Serializes the message to binary data (in protobuf wire format).
 * @return {!Uint8Array}
 */
proto.bosdyn.api.spot.MobilityParams.prototype.serializeBinary = function() {
  var writer = new jspb.BinaryWriter();
  proto.bosdyn.api.spot.MobilityParams.serializeBinaryToWriter(this, writer);
  return writer.getResultBuffer();
};


/**
 * Serializes the given message to binary data (in protobuf wire
 * format), writing to the given BinaryWriter.
 * @param {!proto.bosdyn.api.spot.MobilityParams} message
 * @param {!jspb.BinaryWriter} writer
 * @suppress {unusedLocalVariables} f is only used for nested messages
 */
proto.bosdyn.api.spot.MobilityParams.serializeBinaryToWriter = function(message, writer) {
  var f = undefined;
  f = message.getVelLimit();
  if (f != null) {
    writer.writeMessage(
      1,
      f,
      bosdyn_api_geometry_pb.SE2VelocityLimit.serializeBinaryToWriter
    );
  }
  f = message.getBodyControl();
  if (f != null) {
    writer.writeMessage(
      2,
      f,
      proto.bosdyn.api.spot.BodyControlParams.serializeBinaryToWriter
    );
  }
  f = message.getLocomotionHint();
  if (f !== 0.0) {
    writer.writeEnum(
      3,
      f
    );
  }
  f = message.getStairHint();
  if (f) {
    writer.writeBool(
      4,
      f
    );
  }
  f = message.getAllowDegradedPerception();
  if (f) {
    writer.writeBool(
      5,
      f
    );
  }
  f = message.getObstacleParams();
  if (f != null) {
    writer.writeMessage(
      6,
      f,
      proto.bosdyn.api.spot.ObstacleParams.serializeBinaryToWriter
    );
  }
  f = message.getSwingHeight();
  if (f !== 0.0) {
    writer.writeEnum(
      7,
      f
    );
  }
  f = message.getTerrainParams();
  if (f != null) {
    writer.writeMessage(
      8,
      f,
      proto.bosdyn.api.spot.TerrainParams.serializeBinaryToWriter
    );
  }
  f = message.getDisallowStairTracker();
  if (f) {
    writer.writeBool(
      9,
      f
    );
  }
  f = message.getExternalForceParams();
  if (f != null) {
    writer.writeMessage(
      10,
      f,
      proto.bosdyn.api.spot.BodyExternalForceParams.serializeBinaryToWriter
    );
  }
  f = message.getDisallowNonStairsPitchLimiting();
  if (f) {
    writer.writeBool(
      11,
      f
    );
  }
  f = message.getDisableNearmapCliffAvoidance();
  if (f) {
    writer.writeBool(
      12,
      f
    );
  }
};


/**
 * optional bosdyn.api.SE2VelocityLimit vel_limit = 1;
 * @return {?proto.bosdyn.api.SE2VelocityLimit}
 */
proto.bosdyn.api.spot.MobilityParams.prototype.getVelLimit = function() {
  return /** @type{?proto.bosdyn.api.SE2VelocityLimit} */ (
    jspb.Message.getWrapperField(this, bosdyn_api_geometry_pb.SE2VelocityLimit, 1));
};


/**
 * @param {?proto.bosdyn.api.SE2VelocityLimit|undefined} value
 * @return {!proto.bosdyn.api.spot.MobilityParams} returns this
*/
proto.bosdyn.api.spot.MobilityParams.prototype.setVelLimit = function(value) {
  return jspb.Message.setWrapperField(this, 1, value);
};


/**
 * Clears the message field making it undefined.
 * @return {!proto.bosdyn.api.spot.MobilityParams} returns this
 */
proto.bosdyn.api.spot.MobilityParams.prototype.clearVelLimit = function() {
  return this.setVelLimit(undefined);
};


/**
 * Returns whether this field is set.
 * @return {boolean}
 */
proto.bosdyn.api.spot.MobilityParams.prototype.hasVelLimit = function() {
  return jspb.Message.getField(this, 1) != null;
};


/**
 * optional BodyControlParams body_control = 2;
 * @return {?proto.bosdyn.api.spot.BodyControlParams}
 */
proto.bosdyn.api.spot.MobilityParams.prototype.getBodyControl = function() {
  return /** @type{?proto.bosdyn.api.spot.BodyControlParams} */ (
    jspb.Message.getWrapperField(this, proto.bosdyn.api.spot.BodyControlParams, 2));
};


/**
 * @param {?proto.bosdyn.api.spot.BodyControlParams|undefined} value
 * @return {!proto.bosdyn.api.spot.MobilityParams} returns this
*/
proto.bosdyn.api.spot.MobilityParams.prototype.setBodyControl = function(value) {
  return jspb.Message.setWrapperField(this, 2, value);
};


/**
 * Clears the message field making it undefined.
 * @return {!proto.bosdyn.api.spot.MobilityParams} returns this
 */
proto.bosdyn.api.spot.MobilityParams.prototype.clearBodyControl = function() {
  return this.setBodyControl(undefined);
};


/**
 * Returns whether this field is set.
 * @return {boolean}
 */
proto.bosdyn.api.spot.MobilityParams.prototype.hasBodyControl = function() {
  return jspb.Message.getField(this, 2) != null;
};


/**
 * optional LocomotionHint locomotion_hint = 3;
 * @return {!proto.bosdyn.api.spot.LocomotionHint}
 */
proto.bosdyn.api.spot.MobilityParams.prototype.getLocomotionHint = function() {
  return /** @type {!proto.bosdyn.api.spot.LocomotionHint} */ (jspb.Message.getFieldWithDefault(this, 3, 0));
};


/**
 * @param {!proto.bosdyn.api.spot.LocomotionHint} value
 * @return {!proto.bosdyn.api.spot.MobilityParams} returns this
 */
proto.bosdyn.api.spot.MobilityParams.prototype.setLocomotionHint = function(value) {
  return jspb.Message.setProto3EnumField(this, 3, value);
};


/**
 * optional bool stair_hint = 4;
 * @return {boolean}
 */
proto.bosdyn.api.spot.MobilityParams.prototype.getStairHint = function() {
  return /** @type {boolean} */ (jspb.Message.getBooleanFieldWithDefault(this, 4, false));
};


/**
 * @param {boolean} value
 * @return {!proto.bosdyn.api.spot.MobilityParams} returns this
 */
proto.bosdyn.api.spot.MobilityParams.prototype.setStairHint = function(value) {
  return jspb.Message.setProto3BooleanField(this, 4, value);
};


/**
 * optional bool allow_degraded_perception = 5;
 * @return {boolean}
 */
proto.bosdyn.api.spot.MobilityParams.prototype.getAllowDegradedPerception = function() {
  return /** @type {boolean} */ (jspb.Message.getBooleanFieldWithDefault(this, 5, false));
};


/**
 * @param {boolean} value
 * @return {!proto.bosdyn.api.spot.MobilityParams} returns this
 */
proto.bosdyn.api.spot.MobilityParams.prototype.setAllowDegradedPerception = function(value) {
  return jspb.Message.setProto3BooleanField(this, 5, value);
};


/**
 * optional ObstacleParams obstacle_params = 6;
 * @return {?proto.bosdyn.api.spot.ObstacleParams}
 */
proto.bosdyn.api.spot.MobilityParams.prototype.getObstacleParams = function() {
  return /** @type{?proto.bosdyn.api.spot.ObstacleParams} */ (
    jspb.Message.getWrapperField(this, proto.bosdyn.api.spot.ObstacleParams, 6));
};


/**
 * @param {?proto.bosdyn.api.spot.ObstacleParams|undefined} value
 * @return {!proto.bosdyn.api.spot.MobilityParams} returns this
*/
proto.bosdyn.api.spot.MobilityParams.prototype.setObstacleParams = function(value) {
  return jspb.Message.setWrapperField(this, 6, value);
};


/**
 * Clears the message field making it undefined.
 * @return {!proto.bosdyn.api.spot.MobilityParams} returns this
 */
proto.bosdyn.api.spot.MobilityParams.prototype.clearObstacleParams = function() {
  return this.setObstacleParams(undefined);
};


/**
 * Returns whether this field is set.
 * @return {boolean}
 */
proto.bosdyn.api.spot.MobilityParams.prototype.hasObstacleParams = function() {
  return jspb.Message.getField(this, 6) != null;
};


/**
 * optional SwingHeight swing_height = 7;
 * @return {!proto.bosdyn.api.spot.SwingHeight}
 */
proto.bosdyn.api.spot.MobilityParams.prototype.getSwingHeight = function() {
  return /** @type {!proto.bosdyn.api.spot.SwingHeight} */ (jspb.Message.getFieldWithDefault(this, 7, 0));
};


/**
 * @param {!proto.bosdyn.api.spot.SwingHeight} value
 * @return {!proto.bosdyn.api.spot.MobilityParams} returns this
 */
proto.bosdyn.api.spot.MobilityParams.prototype.setSwingHeight = function(value) {
  return jspb.Message.setProto3EnumField(this, 7, value);
};


/**
 * optional TerrainParams terrain_params = 8;
 * @return {?proto.bosdyn.api.spot.TerrainParams}
 */
proto.bosdyn.api.spot.MobilityParams.prototype.getTerrainParams = function() {
  return /** @type{?proto.bosdyn.api.spot.TerrainParams} */ (
    jspb.Message.getWrapperField(this, proto.bosdyn.api.spot.TerrainParams, 8));
};


/**
 * @param {?proto.bosdyn.api.spot.TerrainParams|undefined} value
 * @return {!proto.bosdyn.api.spot.MobilityParams} returns this
*/
proto.bosdyn.api.spot.MobilityParams.prototype.setTerrainParams = function(value) {
  return jspb.Message.setWrapperField(this, 8, value);
};


/**
 * Clears the message field making it undefined.
 * @return {!proto.bosdyn.api.spot.MobilityParams} returns this
 */
proto.bosdyn.api.spot.MobilityParams.prototype.clearTerrainParams = function() {
  return this.setTerrainParams(undefined);
};


/**
 * Returns whether this field is set.
 * @return {boolean}
 */
proto.bosdyn.api.spot.MobilityParams.prototype.hasTerrainParams = function() {
  return jspb.Message.getField(this, 8) != null;
};


/**
 * optional bool disallow_stair_tracker = 9;
 * @return {boolean}
 */
proto.bosdyn.api.spot.MobilityParams.prototype.getDisallowStairTracker = function() {
  return /** @type {boolean} */ (jspb.Message.getBooleanFieldWithDefault(this, 9, false));
};


/**
 * @param {boolean} value
 * @return {!proto.bosdyn.api.spot.MobilityParams} returns this
 */
proto.bosdyn.api.spot.MobilityParams.prototype.setDisallowStairTracker = function(value) {
  return jspb.Message.setProto3BooleanField(this, 9, value);
};


/**
 * optional BodyExternalForceParams external_force_params = 10;
 * @return {?proto.bosdyn.api.spot.BodyExternalForceParams}
 */
proto.bosdyn.api.spot.MobilityParams.prototype.getExternalForceParams = function() {
  return /** @type{?proto.bosdyn.api.spot.BodyExternalForceParams} */ (
    jspb.Message.getWrapperField(this, proto.bosdyn.api.spot.BodyExternalForceParams, 10));
};


/**
 * @param {?proto.bosdyn.api.spot.BodyExternalForceParams|undefined} value
 * @return {!proto.bosdyn.api.spot.MobilityParams} returns this
*/
proto.bosdyn.api.spot.MobilityParams.prototype.setExternalForceParams = function(value) {
  return jspb.Message.setWrapperField(this, 10, value);
};


/**
 * Clears the message field making it undefined.
 * @return {!proto.bosdyn.api.spot.MobilityParams} returns this
 */
proto.bosdyn.api.spot.MobilityParams.prototype.clearExternalForceParams = function() {
  return this.setExternalForceParams(undefined);
};


/**
 * Returns whether this field is set.
 * @return {boolean}
 */
proto.bosdyn.api.spot.MobilityParams.prototype.hasExternalForceParams = function() {
  return jspb.Message.getField(this, 10) != null;
};


/**
 * optional bool disallow_non_stairs_pitch_limiting = 11;
 * @return {boolean}
 */
proto.bosdyn.api.spot.MobilityParams.prototype.getDisallowNonStairsPitchLimiting = function() {
  return /** @type {boolean} */ (jspb.Message.getBooleanFieldWithDefault(this, 11, false));
};


/**
 * @param {boolean} value
 * @return {!proto.bosdyn.api.spot.MobilityParams} returns this
 */
proto.bosdyn.api.spot.MobilityParams.prototype.setDisallowNonStairsPitchLimiting = function(value) {
  return jspb.Message.setProto3BooleanField(this, 11, value);
};


/**
 * optional bool disable_nearmap_cliff_avoidance = 12;
 * @return {boolean}
 */
proto.bosdyn.api.spot.MobilityParams.prototype.getDisableNearmapCliffAvoidance = function() {
  return /** @type {boolean} */ (jspb.Message.getBooleanFieldWithDefault(this, 12, false));
};


/**
 * @param {boolean} value
 * @return {!proto.bosdyn.api.spot.MobilityParams} returns this
 */
proto.bosdyn.api.spot.MobilityParams.prototype.setDisableNearmapCliffAvoidance = function(value) {
  return jspb.Message.setProto3BooleanField(this, 12, value);
};





if (jspb.Message.GENERATE_TO_OBJECT) {
/**
 * Creates an object representation of this proto.
 * Field names that are reserved in JavaScript and will be renamed to pb_name.
 * Optional fields that are not set will be set to undefined.
 * To access a reserved field use, foo.pb_<name>, eg, foo.pb_default.
 * For the list of reserved names please see:
 *     net/proto2/compiler/js/internal/generator.cc#kKeyword.
 * @param {boolean=} opt_includeInstance Deprecated. whether to include the
 *     JSPB instance for transitional soy proto support:
 *     http://goto/soy-param-migration
 * @return {!Object}
 */
proto.bosdyn.api.spot.BodyControlParams.prototype.toObject = function(opt_includeInstance) {
  return proto.bosdyn.api.spot.BodyControlParams.toObject(opt_includeInstance, this);
};


/**
 * Static version of the {@see toObject} method.
 * @param {boolean|undefined} includeInstance Deprecated. Whether to include
 *     the JSPB instance for transitional soy proto support:
 *     http://goto/soy-param-migration
 * @param {!proto.bosdyn.api.spot.BodyControlParams} msg The msg instance to transform.
 * @return {!Object}
 * @suppress {unusedLocalVariables} f is only used for nested messages
 */
proto.bosdyn.api.spot.BodyControlParams.toObject = function(includeInstance, msg) {
  var f, obj = {
    baseOffsetRtFootprint: (f = msg.getBaseOffsetRtFootprint()) && bosdyn_api_trajectory_pb.SE3Trajectory.toObject(includeInstance, f),
    rotationSetting: jspb.Message.getFieldWithDefault(msg, 2, 0)
  };

  if (includeInstance) {
    obj.$jspbMessageInstance = msg;
  }
  return obj;
};
}


/**
 * Deserializes binary data (in protobuf wire format).
 * @param {jspb.ByteSource} bytes The bytes to deserialize.
 * @return {!proto.bosdyn.api.spot.BodyControlParams}
 */
proto.bosdyn.api.spot.BodyControlParams.deserializeBinary = function(bytes) {
  var reader = new jspb.BinaryReader(bytes);
  var msg = new proto.bosdyn.api.spot.BodyControlParams;
  return proto.bosdyn.api.spot.BodyControlParams.deserializeBinaryFromReader(msg, reader);
};


/**
 * Deserializes binary data (in protobuf wire format) from the
 * given reader into the given message object.
 * @param {!proto.bosdyn.api.spot.BodyControlParams} msg The message object to deserialize into.
 * @param {!jspb.BinaryReader} reader The BinaryReader to use.
 * @return {!proto.bosdyn.api.spot.BodyControlParams}
 */
proto.bosdyn.api.spot.BodyControlParams.deserializeBinaryFromReader = function(msg, reader) {
  while (reader.nextField()) {
    if (reader.isEndGroup()) {
      break;
    }
    var field = reader.getFieldNumber();
    switch (field) {
    case 1:
      var value = new bosdyn_api_trajectory_pb.SE3Trajectory;
      reader.readMessage(value,bosdyn_api_trajectory_pb.SE3Trajectory.deserializeBinaryFromReader);
      msg.setBaseOffsetRtFootprint(value);
      break;
    case 2:
      var value = /** @type {!proto.bosdyn.api.spot.BodyControlParams.RotationSetting} */ (reader.readEnum());
      msg.setRotationSetting(value);
      break;
    default:
      reader.skipField();
      break;
    }
  }
  return msg;
};


/**
 * Serializes the message to binary data (in protobuf wire format).
 * @return {!Uint8Array}
 */
proto.bosdyn.api.spot.BodyControlParams.prototype.serializeBinary = function() {
  var writer = new jspb.BinaryWriter();
  proto.bosdyn.api.spot.BodyControlParams.serializeBinaryToWriter(this, writer);
  return writer.getResultBuffer();
};


/**
 * Serializes the given message to binary data (in protobuf wire
 * format), writing to the given BinaryWriter.
 * @param {!proto.bosdyn.api.spot.BodyControlParams} message
 * @param {!jspb.BinaryWriter} writer
 * @suppress {unusedLocalVariables} f is only used for nested messages
 */
proto.bosdyn.api.spot.BodyControlParams.serializeBinaryToWriter = function(message, writer) {
  var f = undefined;
  f = message.getBaseOffsetRtFootprint();
  if (f != null) {
    writer.writeMessage(
      1,
      f,
      bosdyn_api_trajectory_pb.SE3Trajectory.serializeBinaryToWriter
    );
  }
  f = message.getRotationSetting();
  if (f !== 0.0) {
    writer.writeEnum(
      2,
      f
    );
  }
};


/**
 * @enum {number}
 */
proto.bosdyn.api.spot.BodyControlParams.RotationSetting = {
  ROTATION_SETTING_UNKNOWN: 0,
  ROTATION_SETTING_OFFSET: 1,
  ROTATION_SETTING_ABSOLUTE: 2
};

/**
 * optional bosdyn.api.SE3Trajectory base_offset_rt_footprint = 1;
 * @return {?proto.bosdyn.api.SE3Trajectory}
 */
proto.bosdyn.api.spot.BodyControlParams.prototype.getBaseOffsetRtFootprint = function() {
  return /** @type{?proto.bosdyn.api.SE3Trajectory} */ (
    jspb.Message.getWrapperField(this, bosdyn_api_trajectory_pb.SE3Trajectory, 1));
};


/**
 * @param {?proto.bosdyn.api.SE3Trajectory|undefined} value
 * @return {!proto.bosdyn.api.spot.BodyControlParams} returns this
*/
proto.bosdyn.api.spot.BodyControlParams.prototype.setBaseOffsetRtFootprint = function(value) {
  return jspb.Message.setWrapperField(this, 1, value);
};


/**
 * Clears the message field making it undefined.
 * @return {!proto.bosdyn.api.spot.BodyControlParams} returns this
 */
proto.bosdyn.api.spot.BodyControlParams.prototype.clearBaseOffsetRtFootprint = function() {
  return this.setBaseOffsetRtFootprint(undefined);
};


/**
 * Returns whether this field is set.
 * @return {boolean}
 */
proto.bosdyn.api.spot.BodyControlParams.prototype.hasBaseOffsetRtFootprint = function() {
  return jspb.Message.getField(this, 1) != null;
};


/**
 * optional RotationSetting rotation_setting = 2;
 * @return {!proto.bosdyn.api.spot.BodyControlParams.RotationSetting}
 */
proto.bosdyn.api.spot.BodyControlParams.prototype.getRotationSetting = function() {
  return /** @type {!proto.bosdyn.api.spot.BodyControlParams.RotationSetting} */ (jspb.Message.getFieldWithDefault(this, 2, 0));
};


/**
 * @param {!proto.bosdyn.api.spot.BodyControlParams.RotationSetting} value
 * @return {!proto.bosdyn.api.spot.BodyControlParams} returns this
 */
proto.bosdyn.api.spot.BodyControlParams.prototype.setRotationSetting = function(value) {
  return jspb.Message.setProto3EnumField(this, 2, value);
};





if (jspb.Message.GENERATE_TO_OBJECT) {
/**
 * Creates an object representation of this proto.
 * Field names that are reserved in JavaScript and will be renamed to pb_name.
 * Optional fields that are not set will be set to undefined.
 * To access a reserved field use, foo.pb_<name>, eg, foo.pb_default.
 * For the list of reserved names please see:
 *     net/proto2/compiler/js/internal/generator.cc#kKeyword.
 * @param {boolean=} opt_includeInstance Deprecated. whether to include the
 *     JSPB instance for transitional soy proto support:
 *     http://goto/soy-param-migration
 * @return {!Object}
 */
proto.bosdyn.api.spot.ObstacleParams.prototype.toObject = function(opt_includeInstance) {
  return proto.bosdyn.api.spot.ObstacleParams.toObject(opt_includeInstance, this);
};


/**
 * Static version of the {@see toObject} method.
 * @param {boolean|undefined} includeInstance Deprecated. Whether to include
 *     the JSPB instance for transitional soy proto support:
 *     http://goto/soy-param-migration
 * @param {!proto.bosdyn.api.spot.ObstacleParams} msg The msg instance to transform.
 * @return {!Object}
 * @suppress {unusedLocalVariables} f is only used for nested messages
 */
proto.bosdyn.api.spot.ObstacleParams.toObject = function(includeInstance, msg) {
  var f, obj = {
    disableVisionFootObstacleAvoidance: jspb.Message.getBooleanFieldWithDefault(msg, 1, false),
    disableVisionFootConstraintAvoidance: jspb.Message.getBooleanFieldWithDefault(msg, 2, false),
    disableVisionBodyObstacleAvoidance: jspb.Message.getBooleanFieldWithDefault(msg, 3, false),
    obstacleAvoidancePadding: jspb.Message.getFloatingPointFieldWithDefault(msg, 4, 0.0),
    disableVisionFootObstacleBodyAssist: jspb.Message.getBooleanFieldWithDefault(msg, 5, false),
    disableVisionNegativeObstacles: jspb.Message.getBooleanFieldWithDefault(msg, 6, false)
  };

  if (includeInstance) {
    obj.$jspbMessageInstance = msg;
  }
  return obj;
};
}


/**
 * Deserializes binary data (in protobuf wire format).
 * @param {jspb.ByteSource} bytes The bytes to deserialize.
 * @return {!proto.bosdyn.api.spot.ObstacleParams}
 */
proto.bosdyn.api.spot.ObstacleParams.deserializeBinary = function(bytes) {
  var reader = new jspb.BinaryReader(bytes);
  var msg = new proto.bosdyn.api.spot.ObstacleParams;
  return proto.bosdyn.api.spot.ObstacleParams.deserializeBinaryFromReader(msg, reader);
};


/**
 * Deserializes binary data (in protobuf wire format) from the
 * given reader into the given message object.
 * @param {!proto.bosdyn.api.spot.ObstacleParams} msg The message object to deserialize into.
 * @param {!jspb.BinaryReader} reader The BinaryReader to use.
 * @return {!proto.bosdyn.api.spot.ObstacleParams}
 */
proto.bosdyn.api.spot.ObstacleParams.deserializeBinaryFromReader = function(msg, reader) {
  while (reader.nextField()) {
    if (reader.isEndGroup()) {
      break;
    }
    var field = reader.getFieldNumber();
    switch (field) {
    case 1:
      var value = /** @type {boolean} */ (reader.readBool());
      msg.setDisableVisionFootObstacleAvoidance(value);
      break;
    case 2:
      var value = /** @type {boolean} */ (reader.readBool());
      msg.setDisableVisionFootConstraintAvoidance(value);
      break;
    case 3:
      var value = /** @type {boolean} */ (reader.readBool());
      msg.setDisableVisionBodyObstacleAvoidance(value);
      break;
    case 4:
      var value = /** @type {number} */ (reader.readDouble());
      msg.setObstacleAvoidancePadding(value);
      break;
    case 5:
      var value = /** @type {boolean} */ (reader.readBool());
      msg.setDisableVisionFootObstacleBodyAssist(value);
      break;
    case 6:
      var value = /** @type {boolean} */ (reader.readBool());
      msg.setDisableVisionNegativeObstacles(value);
      break;
    default:
      reader.skipField();
      break;
    }
  }
  return msg;
};


/**
 * Serializes the message to binary data (in protobuf wire format).
 * @return {!Uint8Array}
 */
proto.bosdyn.api.spot.ObstacleParams.prototype.serializeBinary = function() {
  var writer = new jspb.BinaryWriter();
  proto.bosdyn.api.spot.ObstacleParams.serializeBinaryToWriter(this, writer);
  return writer.getResultBuffer();
};


/**
 * Serializes the given message to binary data (in protobuf wire
 * format), writing to the given BinaryWriter.
 * @param {!proto.bosdyn.api.spot.ObstacleParams} message
 * @param {!jspb.BinaryWriter} writer
 * @suppress {unusedLocalVariables} f is only used for nested messages
 */
proto.bosdyn.api.spot.ObstacleParams.serializeBinaryToWriter = function(message, writer) {
  var f = undefined;
  f = message.getDisableVisionFootObstacleAvoidance();
  if (f) {
    writer.writeBool(
      1,
      f
    );
  }
  f = message.getDisableVisionFootConstraintAvoidance();
  if (f) {
    writer.writeBool(
      2,
      f
    );
  }
  f = message.getDisableVisionBodyObstacleAvoidance();
  if (f) {
    writer.writeBool(
      3,
      f
    );
  }
  f = message.getObstacleAvoidancePadding();
  if (f !== 0.0) {
    writer.writeDouble(
      4,
      f
    );
  }
  f = message.getDisableVisionFootObstacleBodyAssist();
  if (f) {
    writer.writeBool(
      5,
      f
    );
  }
  f = message.getDisableVisionNegativeObstacles();
  if (f) {
    writer.writeBool(
      6,
      f
    );
  }
};


/**
 * optional bool disable_vision_foot_obstacle_avoidance = 1;
 * @return {boolean}
 */
proto.bosdyn.api.spot.ObstacleParams.prototype.getDisableVisionFootObstacleAvoidance = function() {
  return /** @type {boolean} */ (jspb.Message.getBooleanFieldWithDefault(this, 1, false));
};


/**
 * @param {boolean} value
 * @return {!proto.bosdyn.api.spot.ObstacleParams} returns this
 */
proto.bosdyn.api.spot.ObstacleParams.prototype.setDisableVisionFootObstacleAvoidance = function(value) {
  return jspb.Message.setProto3BooleanField(this, 1, value);
};


/**
 * optional bool disable_vision_foot_constraint_avoidance = 2;
 * @return {boolean}
 */
proto.bosdyn.api.spot.ObstacleParams.prototype.getDisableVisionFootConstraintAvoidance = function() {
  return /** @type {boolean} */ (jspb.Message.getBooleanFieldWithDefault(this, 2, false));
};


/**
 * @param {boolean} value
 * @return {!proto.bosdyn.api.spot.ObstacleParams} returns this
 */
proto.bosdyn.api.spot.ObstacleParams.prototype.setDisableVisionFootConstraintAvoidance = function(value) {
  return jspb.Message.setProto3BooleanField(this, 2, value);
};


/**
 * optional bool disable_vision_body_obstacle_avoidance = 3;
 * @return {boolean}
 */
proto.bosdyn.api.spot.ObstacleParams.prototype.getDisableVisionBodyObstacleAvoidance = function() {
  return /** @type {boolean} */ (jspb.Message.getBooleanFieldWithDefault(this, 3, false));
};


/**
 * @param {boolean} value
 * @return {!proto.bosdyn.api.spot.ObstacleParams} returns this
 */
proto.bosdyn.api.spot.ObstacleParams.prototype.setDisableVisionBodyObstacleAvoidance = function(value) {
  return jspb.Message.setProto3BooleanField(this, 3, value);
};


/**
 * optional double obstacle_avoidance_padding = 4;
 * @return {number}
 */
proto.bosdyn.api.spot.ObstacleParams.prototype.getObstacleAvoidancePadding = function() {
  return /** @type {number} */ (jspb.Message.getFloatingPointFieldWithDefault(this, 4, 0.0));
};


/**
 * @param {number} value
 * @return {!proto.bosdyn.api.spot.ObstacleParams} returns this
 */
proto.bosdyn.api.spot.ObstacleParams.prototype.setObstacleAvoidancePadding = function(value) {
  return jspb.Message.setProto3FloatField(this, 4, value);
};


/**
 * optional bool disable_vision_foot_obstacle_body_assist = 5;
 * @return {boolean}
 */
proto.bosdyn.api.spot.ObstacleParams.prototype.getDisableVisionFootObstacleBodyAssist = function() {
  return /** @type {boolean} */ (jspb.Message.getBooleanFieldWithDefault(this, 5, false));
};


/**
 * @param {boolean} value
 * @return {!proto.bosdyn.api.spot.ObstacleParams} returns this
 */
proto.bosdyn.api.spot.ObstacleParams.prototype.setDisableVisionFootObstacleBodyAssist = function(value) {
  return jspb.Message.setProto3BooleanField(this, 5, value);
};


/**
 * optional bool disable_vision_negative_obstacles = 6;
 * @return {boolean}
 */
proto.bosdyn.api.spot.ObstacleParams.prototype.getDisableVisionNegativeObstacles = function() {
  return /** @type {boolean} */ (jspb.Message.getBooleanFieldWithDefault(this, 6, false));
};


/**
 * @param {boolean} value
 * @return {!proto.bosdyn.api.spot.ObstacleParams} returns this
 */
proto.bosdyn.api.spot.ObstacleParams.prototype.setDisableVisionNegativeObstacles = function(value) {
  return jspb.Message.setProto3BooleanField(this, 6, value);
};





if (jspb.Message.GENERATE_TO_OBJECT) {
/**
 * Creates an object representation of this proto.
 * Field names that are reserved in JavaScript and will be renamed to pb_name.
 * Optional fields that are not set will be set to undefined.
 * To access a reserved field use, foo.pb_<name>, eg, foo.pb_default.
 * For the list of reserved names please see:
 *     net/proto2/compiler/js/internal/generator.cc#kKeyword.
 * @param {boolean=} opt_includeInstance Deprecated. whether to include the
 *     JSPB instance for transitional soy proto support:
 *     http://goto/soy-param-migration
 * @return {!Object}
 */
proto.bosdyn.api.spot.TerrainParams.prototype.toObject = function(opt_includeInstance) {
  return proto.bosdyn.api.spot.TerrainParams.toObject(opt_includeInstance, this);
};


/**
 * Static version of the {@see toObject} method.
 * @param {boolean|undefined} includeInstance Deprecated. Whether to include
 *     the JSPB instance for transitional soy proto support:
 *     http://goto/soy-param-migration
 * @param {!proto.bosdyn.api.spot.TerrainParams} msg The msg instance to transform.
 * @return {!Object}
 * @suppress {unusedLocalVariables} f is only used for nested messages
 */
proto.bosdyn.api.spot.TerrainParams.toObject = function(includeInstance, msg) {
  var f, obj = {
    groundMuHint: (f = msg.getGroundMuHint()) && google_protobuf_wrappers_pb.DoubleValue.toObject(includeInstance, f),
    enableGratedFloor: jspb.Message.getBooleanFieldWithDefault(msg, 3, false),
    gratedSurfacesMode: jspb.Message.getFieldWithDefault(msg, 4, 0)
  };

  if (includeInstance) {
    obj.$jspbMessageInstance = msg;
  }
  return obj;
};
}


/**
 * Deserializes binary data (in protobuf wire format).
 * @param {jspb.ByteSource} bytes The bytes to deserialize.
 * @return {!proto.bosdyn.api.spot.TerrainParams}
 */
proto.bosdyn.api.spot.TerrainParams.deserializeBinary = function(bytes) {
  var reader = new jspb.BinaryReader(bytes);
  var msg = new proto.bosdyn.api.spot.TerrainParams;
  return proto.bosdyn.api.spot.TerrainParams.deserializeBinaryFromReader(msg, reader);
};


/**
 * Deserializes binary data (in protobuf wire format) from the
 * given reader into the given message object.
 * @param {!proto.bosdyn.api.spot.TerrainParams} msg The message object to deserialize into.
 * @param {!jspb.BinaryReader} reader The BinaryReader to use.
 * @return {!proto.bosdyn.api.spot.TerrainParams}
 */
proto.bosdyn.api.spot.TerrainParams.deserializeBinaryFromReader = function(msg, reader) {
  while (reader.nextField()) {
    if (reader.isEndGroup()) {
      break;
    }
    var field = reader.getFieldNumber();
    switch (field) {
    case 2:
      var value = new google_protobuf_wrappers_pb.DoubleValue;
      reader.readMessage(value,google_protobuf_wrappers_pb.DoubleValue.deserializeBinaryFromReader);
      msg.setGroundMuHint(value);
      break;
    case 3:
      var value = /** @type {boolean} */ (reader.readBool());
      msg.setEnableGratedFloor(value);
      break;
    case 4:
      var value = /** @type {!proto.bosdyn.api.spot.TerrainParams.GratedSurfacesMode} */ (reader.readEnum());
      msg.setGratedSurfacesMode(value);
      break;
    default:
      reader.skipField();
      break;
    }
  }
  return msg;
};


/**
 * Serializes the message to binary data (in protobuf wire format).
 * @return {!Uint8Array}
 */
proto.bosdyn.api.spot.TerrainParams.prototype.serializeBinary = function() {
  var writer = new jspb.BinaryWriter();
  proto.bosdyn.api.spot.TerrainParams.serializeBinaryToWriter(this, writer);
  return writer.getResultBuffer();
};


/**
 * Serializes the given message to binary data (in protobuf wire
 * format), writing to the given BinaryWriter.
 * @param {!proto.bosdyn.api.spot.TerrainParams} message
 * @param {!jspb.BinaryWriter} writer
 * @suppress {unusedLocalVariables} f is only used for nested messages
 */
proto.bosdyn.api.spot.TerrainParams.serializeBinaryToWriter = function(message, writer) {
  var f = undefined;
  f = message.getGroundMuHint();
  if (f != null) {
    writer.writeMessage(
      2,
      f,
      google_protobuf_wrappers_pb.DoubleValue.serializeBinaryToWriter
    );
  }
  f = message.getEnableGratedFloor();
  if (f) {
    writer.writeBool(
      3,
      f
    );
  }
  f = message.getGratedSurfacesMode();
  if (f !== 0.0) {
    writer.writeEnum(
      4,
      f
    );
  }
};


/**
 * @enum {number}
 */
proto.bosdyn.api.spot.TerrainParams.GratedSurfacesMode = {
  GRATED_SURFACES_MODE_UNKNOWN: 0,
  GRATED_SURFACES_MODE_OFF: 1,
  GRATED_SURFACES_MODE_ON: 2,
  GRATED_SURFACES_MODE_AUTO: 3
};

/**
 * optional google.protobuf.DoubleValue ground_mu_hint = 2;
 * @return {?proto.google.protobuf.DoubleValue}
 */
proto.bosdyn.api.spot.TerrainParams.prototype.getGroundMuHint = function() {
  return /** @type{?proto.google.protobuf.DoubleValue} */ (
    jspb.Message.getWrapperField(this, google_protobuf_wrappers_pb.DoubleValue, 2));
};


/**
 * @param {?proto.google.protobuf.DoubleValue|undefined} value
 * @return {!proto.bosdyn.api.spot.TerrainParams} returns this
*/
proto.bosdyn.api.spot.TerrainParams.prototype.setGroundMuHint = function(value) {
  return jspb.Message.setWrapperField(this, 2, value);
};


/**
 * Clears the message field making it undefined.
 * @return {!proto.bosdyn.api.spot.TerrainParams} returns this
 */
proto.bosdyn.api.spot.TerrainParams.prototype.clearGroundMuHint = function() {
  return this.setGroundMuHint(undefined);
};


/**
 * Returns whether this field is set.
 * @return {boolean}
 */
proto.bosdyn.api.spot.TerrainParams.prototype.hasGroundMuHint = function() {
  return jspb.Message.getField(this, 2) != null;
};


/**
 * optional bool enable_grated_floor = 3;
 * @return {boolean}
 */
proto.bosdyn.api.spot.TerrainParams.prototype.getEnableGratedFloor = function() {
  return /** @type {boolean} */ (jspb.Message.getBooleanFieldWithDefault(this, 3, false));
};


/**
 * @param {boolean} value
 * @return {!proto.bosdyn.api.spot.TerrainParams} returns this
 */
proto.bosdyn.api.spot.TerrainParams.prototype.setEnableGratedFloor = function(value) {
  return jspb.Message.setProto3BooleanField(this, 3, value);
};


/**
 * optional GratedSurfacesMode grated_surfaces_mode = 4;
 * @return {!proto.bosdyn.api.spot.TerrainParams.GratedSurfacesMode}
 */
proto.bosdyn.api.spot.TerrainParams.prototype.getGratedSurfacesMode = function() {
  return /** @type {!proto.bosdyn.api.spot.TerrainParams.GratedSurfacesMode} */ (jspb.Message.getFieldWithDefault(this, 4, 0));
};


/**
 * @param {!proto.bosdyn.api.spot.TerrainParams.GratedSurfacesMode} value
 * @return {!proto.bosdyn.api.spot.TerrainParams} returns this
 */
proto.bosdyn.api.spot.TerrainParams.prototype.setGratedSurfacesMode = function(value) {
  return jspb.Message.setProto3EnumField(this, 4, value);
};





if (jspb.Message.GENERATE_TO_OBJECT) {
/**
 * Creates an object representation of this proto.
 * Field names that are reserved in JavaScript and will be renamed to pb_name.
 * Optional fields that are not set will be set to undefined.
 * To access a reserved field use, foo.pb_<name>, eg, foo.pb_default.
 * For the list of reserved names please see:
 *     net/proto2/compiler/js/internal/generator.cc#kKeyword.
 * @param {boolean=} opt_includeInstance Deprecated. whether to include the
 *     JSPB instance for transitional soy proto support:
 *     http://goto/soy-param-migration
 * @return {!Object}
 */
proto.bosdyn.api.spot.BodyExternalForceParams.prototype.toObject = function(opt_includeInstance) {
  return proto.bosdyn.api.spot.BodyExternalForceParams.toObject(opt_includeInstance, this);
};


/**
 * Static version of the {@see toObject} method.
 * @param {boolean|undefined} includeInstance Deprecated. Whether to include
 *     the JSPB instance for transitional soy proto support:
 *     http://goto/soy-param-migration
 * @param {!proto.bosdyn.api.spot.BodyExternalForceParams} msg The msg instance to transform.
 * @return {!Object}
 * @suppress {unusedLocalVariables} f is only used for nested messages
 */
proto.bosdyn.api.spot.BodyExternalForceParams.toObject = function(includeInstance, msg) {
  var f, obj = {
    externalForceIndicator: jspb.Message.getFieldWithDefault(msg, 1, 0),
    frameName: jspb.Message.getFieldWithDefault(msg, 4, ""),
    externalForceOverride: (f = msg.getExternalForceOverride()) && bosdyn_api_geometry_pb.Vec3.toObject(includeInstance, f)
  };

  if (includeInstance) {
    obj.$jspbMessageInstance = msg;
  }
  return obj;
};
}


/**
 * Deserializes binary data (in protobuf wire format).
 * @param {jspb.ByteSource} bytes The bytes to deserialize.
 * @return {!proto.bosdyn.api.spot.BodyExternalForceParams}
 */
proto.bosdyn.api.spot.BodyExternalForceParams.deserializeBinary = function(bytes) {
  var reader = new jspb.BinaryReader(bytes);
  var msg = new proto.bosdyn.api.spot.BodyExternalForceParams;
  return proto.bosdyn.api.spot.BodyExternalForceParams.deserializeBinaryFromReader(msg, reader);
};


/**
 * Deserializes binary data (in protobuf wire format) from the
 * given reader into the given message object.
 * @param {!proto.bosdyn.api.spot.BodyExternalForceParams} msg The message object to deserialize into.
 * @param {!jspb.BinaryReader} reader The BinaryReader to use.
 * @return {!proto.bosdyn.api.spot.BodyExternalForceParams}
 */
proto.bosdyn.api.spot.BodyExternalForceParams.deserializeBinaryFromReader = function(msg, reader) {
  while (reader.nextField()) {
    if (reader.isEndGroup()) {
      break;
    }
    var field = reader.getFieldNumber();
    switch (field) {
    case 1:
      var value = /** @type {!proto.bosdyn.api.spot.BodyExternalForceParams.ExternalForceIndicator} */ (reader.readEnum());
      msg.setExternalForceIndicator(value);
      break;
    case 4:
      var value = /** @type {string} */ (reader.readString());
      msg.setFrameName(value);
      break;
    case 3:
      var value = new bosdyn_api_geometry_pb.Vec3;
      reader.readMessage(value,bosdyn_api_geometry_pb.Vec3.deserializeBinaryFromReader);
      msg.setExternalForceOverride(value);
      break;
    default:
      reader.skipField();
      break;
    }
  }
  return msg;
};


/**
 * Serializes the message to binary data (in protobuf wire format).
 * @return {!Uint8Array}
 */
proto.bosdyn.api.spot.BodyExternalForceParams.prototype.serializeBinary = function() {
  var writer = new jspb.BinaryWriter();
  proto.bosdyn.api.spot.BodyExternalForceParams.serializeBinaryToWriter(this, writer);
  return writer.getResultBuffer();
};


/**
 * Serializes the given message to binary data (in protobuf wire
 * format), writing to the given BinaryWriter.
 * @param {!proto.bosdyn.api.spot.BodyExternalForceParams} message
 * @param {!jspb.BinaryWriter} writer
 * @suppress {unusedLocalVariables} f is only used for nested messages
 */
proto.bosdyn.api.spot.BodyExternalForceParams.serializeBinaryToWriter = function(message, writer) {
  var f = undefined;
  f = message.getExternalForceIndicator();
  if (f !== 0.0) {
    writer.writeEnum(
      1,
      f
    );
  }
  f = message.getFrameName();
  if (f.length > 0) {
    writer.writeString(
      4,
      f
    );
  }
  f = message.getExternalForceOverride();
  if (f != null) {
    writer.writeMessage(
      3,
      f,
      bosdyn_api_geometry_pb.Vec3.serializeBinaryToWriter
    );
  }
};


/**
 * @enum {number}
 */
proto.bosdyn.api.spot.BodyExternalForceParams.ExternalForceIndicator = {
  EXTERNAL_FORCE_NONE: 0,
  EXTERNAL_FORCE_USE_ESTIMATE: 1,
  EXTERNAL_FORCE_USE_OVERRIDE: 2
};

/**
 * optional ExternalForceIndicator external_force_indicator = 1;
 * @return {!proto.bosdyn.api.spot.BodyExternalForceParams.ExternalForceIndicator}
 */
proto.bosdyn.api.spot.BodyExternalForceParams.prototype.getExternalForceIndicator = function() {
  return /** @type {!proto.bosdyn.api.spot.BodyExternalForceParams.ExternalForceIndicator} */ (jspb.Message.getFieldWithDefault(this, 1, 0));
};


/**
 * @param {!proto.bosdyn.api.spot.BodyExternalForceParams.ExternalForceIndicator} value
 * @return {!proto.bosdyn.api.spot.BodyExternalForceParams} returns this
 */
proto.bosdyn.api.spot.BodyExternalForceParams.prototype.setExternalForceIndicator = function(value) {
  return jspb.Message.setProto3EnumField(this, 1, value);
};


/**
 * optional string frame_name = 4;
 * @return {string}
 */
proto.bosdyn.api.spot.BodyExternalForceParams.prototype.getFrameName = function() {
  return /** @type {string} */ (jspb.Message.getFieldWithDefault(this, 4, ""));
};


/**
 * @param {string} value
 * @return {!proto.bosdyn.api.spot.BodyExternalForceParams} returns thi