spot-sdk-ts
Version:
TypeScript bindings based on protobufs (proto3) provided by Boston Dynamics
1,363 lines (1,362 loc) • 72.3 kB
JavaScript
"use strict";
var __importDefault = (this && this.__importDefault) || function (mod) {
return (mod && mod.__esModule) ? mod : { "default": mod };
};
Object.defineProperty(exports, "__esModule", { value: true });
exports.Vec3Value = exports.Vec2Value = exports.Bounds = exports.Volume = exports.Area = exports.Circle = exports.PolygonWithExclusions = exports.Polygon = exports.PolyLine = exports.SE3Covariance = exports.Matrix = exports.Box3WithFrame = exports.Box3 = exports.Box2WithFrame = exports.Box2 = exports.FrameTreeSnapshot_ChildToParentEdgeMapEntry = exports.FrameTreeSnapshot_ParentEdge = exports.FrameTreeSnapshot = exports.Wrench = exports.SE3Velocity = exports.SE3Pose = exports.SE2VelocityLimit = exports.SE2Velocity = exports.SE2Pose = exports.Ray = exports.Quad = exports.Plane = exports.Quaternion = exports.CylindricalCoordinate = exports.Vec3 = exports.Vec2 = exports.protobufPackage = void 0;
/* eslint-disable */
const minimal_1 = __importDefault(require("protobufjs/minimal"));
const wrappers_1 = require("../../google/protobuf/wrappers");
exports.protobufPackage = "bosdyn.api";
function createBaseVec2() {
return { x: 0, y: 0 };
}
exports.Vec2 = {
encode(message, writer = minimal_1.default.Writer.create()) {
if (message.x !== 0) {
writer.uint32(9).double(message.x);
}
if (message.y !== 0) {
writer.uint32(17).double(message.y);
}
return writer;
},
decode(input, length) {
const reader = input instanceof minimal_1.default.Reader ? input : new minimal_1.default.Reader(input);
let end = length === undefined ? reader.len : reader.pos + length;
const message = createBaseVec2();
while (reader.pos < end) {
const tag = reader.uint32();
switch (tag >>> 3) {
case 1:
message.x = reader.double();
break;
case 2:
message.y = reader.double();
break;
default:
reader.skipType(tag & 7);
break;
}
}
return message;
},
fromJSON(object) {
return {
x: isSet(object.x) ? Number(object.x) : 0,
y: isSet(object.y) ? Number(object.y) : 0,
};
},
toJSON(message) {
const obj = {};
message.x !== undefined && (obj.x = message.x);
message.y !== undefined && (obj.y = message.y);
return obj;
},
fromPartial(object) {
const message = createBaseVec2();
message.x = object.x ?? 0;
message.y = object.y ?? 0;
return message;
},
};
function createBaseVec3() {
return { x: 0, y: 0, z: 0 };
}
exports.Vec3 = {
encode(message, writer = minimal_1.default.Writer.create()) {
if (message.x !== 0) {
writer.uint32(9).double(message.x);
}
if (message.y !== 0) {
writer.uint32(17).double(message.y);
}
if (message.z !== 0) {
writer.uint32(25).double(message.z);
}
return writer;
},
decode(input, length) {
const reader = input instanceof minimal_1.default.Reader ? input : new minimal_1.default.Reader(input);
let end = length === undefined ? reader.len : reader.pos + length;
const message = createBaseVec3();
while (reader.pos < end) {
const tag = reader.uint32();
switch (tag >>> 3) {
case 1:
message.x = reader.double();
break;
case 2:
message.y = reader.double();
break;
case 3:
message.z = reader.double();
break;
default:
reader.skipType(tag & 7);
break;
}
}
return message;
},
fromJSON(object) {
return {
x: isSet(object.x) ? Number(object.x) : 0,
y: isSet(object.y) ? Number(object.y) : 0,
z: isSet(object.z) ? Number(object.z) : 0,
};
},
toJSON(message) {
const obj = {};
message.x !== undefined && (obj.x = message.x);
message.y !== undefined && (obj.y = message.y);
message.z !== undefined && (obj.z = message.z);
return obj;
},
fromPartial(object) {
const message = createBaseVec3();
message.x = object.x ?? 0;
message.y = object.y ?? 0;
message.z = object.z ?? 0;
return message;
},
};
function createBaseCylindricalCoordinate() {
return { r: 0, theta: 0, z: 0 };
}
exports.CylindricalCoordinate = {
encode(message, writer = minimal_1.default.Writer.create()) {
if (message.r !== 0) {
writer.uint32(9).double(message.r);
}
if (message.theta !== 0) {
writer.uint32(17).double(message.theta);
}
if (message.z !== 0) {
writer.uint32(25).double(message.z);
}
return writer;
},
decode(input, length) {
const reader = input instanceof minimal_1.default.Reader ? input : new minimal_1.default.Reader(input);
let end = length === undefined ? reader.len : reader.pos + length;
const message = createBaseCylindricalCoordinate();
while (reader.pos < end) {
const tag = reader.uint32();
switch (tag >>> 3) {
case 1:
message.r = reader.double();
break;
case 2:
message.theta = reader.double();
break;
case 3:
message.z = reader.double();
break;
default:
reader.skipType(tag & 7);
break;
}
}
return message;
},
fromJSON(object) {
return {
r: isSet(object.r) ? Number(object.r) : 0,
theta: isSet(object.theta) ? Number(object.theta) : 0,
z: isSet(object.z) ? Number(object.z) : 0,
};
},
toJSON(message) {
const obj = {};
message.r !== undefined && (obj.r = message.r);
message.theta !== undefined && (obj.theta = message.theta);
message.z !== undefined && (obj.z = message.z);
return obj;
},
fromPartial(object) {
const message = createBaseCylindricalCoordinate();
message.r = object.r ?? 0;
message.theta = object.theta ?? 0;
message.z = object.z ?? 0;
return message;
},
};
function createBaseQuaternion() {
return { x: 0, y: 0, z: 0, w: 0 };
}
exports.Quaternion = {
encode(message, writer = minimal_1.default.Writer.create()) {
if (message.x !== 0) {
writer.uint32(9).double(message.x);
}
if (message.y !== 0) {
writer.uint32(17).double(message.y);
}
if (message.z !== 0) {
writer.uint32(25).double(message.z);
}
if (message.w !== 0) {
writer.uint32(33).double(message.w);
}
return writer;
},
decode(input, length) {
const reader = input instanceof minimal_1.default.Reader ? input : new minimal_1.default.Reader(input);
let end = length === undefined ? reader.len : reader.pos + length;
const message = createBaseQuaternion();
while (reader.pos < end) {
const tag = reader.uint32();
switch (tag >>> 3) {
case 1:
message.x = reader.double();
break;
case 2:
message.y = reader.double();
break;
case 3:
message.z = reader.double();
break;
case 4:
message.w = reader.double();
break;
default:
reader.skipType(tag & 7);
break;
}
}
return message;
},
fromJSON(object) {
return {
x: isSet(object.x) ? Number(object.x) : 0,
y: isSet(object.y) ? Number(object.y) : 0,
z: isSet(object.z) ? Number(object.z) : 0,
w: isSet(object.w) ? Number(object.w) : 0,
};
},
toJSON(message) {
const obj = {};
message.x !== undefined && (obj.x = message.x);
message.y !== undefined && (obj.y = message.y);
message.z !== undefined && (obj.z = message.z);
message.w !== undefined && (obj.w = message.w);
return obj;
},
fromPartial(object) {
const message = createBaseQuaternion();
message.x = object.x ?? 0;
message.y = object.y ?? 0;
message.z = object.z ?? 0;
message.w = object.w ?? 0;
return message;
},
};
function createBasePlane() {
return { point: undefined, normal: undefined };
}
exports.Plane = {
encode(message, writer = minimal_1.default.Writer.create()) {
if (message.point !== undefined) {
exports.Vec3.encode(message.point, writer.uint32(10).fork()).ldelim();
}
if (message.normal !== undefined) {
exports.Vec3.encode(message.normal, writer.uint32(18).fork()).ldelim();
}
return writer;
},
decode(input, length) {
const reader = input instanceof minimal_1.default.Reader ? input : new minimal_1.default.Reader(input);
let end = length === undefined ? reader.len : reader.pos + length;
const message = createBasePlane();
while (reader.pos < end) {
const tag = reader.uint32();
switch (tag >>> 3) {
case 1:
message.point = exports.Vec3.decode(reader, reader.uint32());
break;
case 2:
message.normal = exports.Vec3.decode(reader, reader.uint32());
break;
default:
reader.skipType(tag & 7);
break;
}
}
return message;
},
fromJSON(object) {
return {
point: isSet(object.point) ? exports.Vec3.fromJSON(object.point) : undefined,
normal: isSet(object.normal) ? exports.Vec3.fromJSON(object.normal) : undefined,
};
},
toJSON(message) {
const obj = {};
message.point !== undefined &&
(obj.point = message.point ? exports.Vec3.toJSON(message.point) : undefined);
message.normal !== undefined &&
(obj.normal = message.normal ? exports.Vec3.toJSON(message.normal) : undefined);
return obj;
},
fromPartial(object) {
const message = createBasePlane();
message.point =
object.point !== undefined && object.point !== null
? exports.Vec3.fromPartial(object.point)
: undefined;
message.normal =
object.normal !== undefined && object.normal !== null
? exports.Vec3.fromPartial(object.normal)
: undefined;
return message;
},
};
function createBaseQuad() {
return { pose: undefined, size: 0 };
}
exports.Quad = {
encode(message, writer = minimal_1.default.Writer.create()) {
if (message.pose !== undefined) {
exports.SE3Pose.encode(message.pose, writer.uint32(10).fork()).ldelim();
}
if (message.size !== 0) {
writer.uint32(17).double(message.size);
}
return writer;
},
decode(input, length) {
const reader = input instanceof minimal_1.default.Reader ? input : new minimal_1.default.Reader(input);
let end = length === undefined ? reader.len : reader.pos + length;
const message = createBaseQuad();
while (reader.pos < end) {
const tag = reader.uint32();
switch (tag >>> 3) {
case 1:
message.pose = exports.SE3Pose.decode(reader, reader.uint32());
break;
case 2:
message.size = reader.double();
break;
default:
reader.skipType(tag & 7);
break;
}
}
return message;
},
fromJSON(object) {
return {
pose: isSet(object.pose) ? exports.SE3Pose.fromJSON(object.pose) : undefined,
size: isSet(object.size) ? Number(object.size) : 0,
};
},
toJSON(message) {
const obj = {};
message.pose !== undefined &&
(obj.pose = message.pose ? exports.SE3Pose.toJSON(message.pose) : undefined);
message.size !== undefined && (obj.size = message.size);
return obj;
},
fromPartial(object) {
const message = createBaseQuad();
message.pose =
object.pose !== undefined && object.pose !== null
? exports.SE3Pose.fromPartial(object.pose)
: undefined;
message.size = object.size ?? 0;
return message;
},
};
function createBaseRay() {
return { origin: undefined, direction: undefined };
}
exports.Ray = {
encode(message, writer = minimal_1.default.Writer.create()) {
if (message.origin !== undefined) {
exports.Vec3.encode(message.origin, writer.uint32(10).fork()).ldelim();
}
if (message.direction !== undefined) {
exports.Vec3.encode(message.direction, writer.uint32(18).fork()).ldelim();
}
return writer;
},
decode(input, length) {
const reader = input instanceof minimal_1.default.Reader ? input : new minimal_1.default.Reader(input);
let end = length === undefined ? reader.len : reader.pos + length;
const message = createBaseRay();
while (reader.pos < end) {
const tag = reader.uint32();
switch (tag >>> 3) {
case 1:
message.origin = exports.Vec3.decode(reader, reader.uint32());
break;
case 2:
message.direction = exports.Vec3.decode(reader, reader.uint32());
break;
default:
reader.skipType(tag & 7);
break;
}
}
return message;
},
fromJSON(object) {
return {
origin: isSet(object.origin) ? exports.Vec3.fromJSON(object.origin) : undefined,
direction: isSet(object.direction)
? exports.Vec3.fromJSON(object.direction)
: undefined,
};
},
toJSON(message) {
const obj = {};
message.origin !== undefined &&
(obj.origin = message.origin ? exports.Vec3.toJSON(message.origin) : undefined);
message.direction !== undefined &&
(obj.direction = message.direction
? exports.Vec3.toJSON(message.direction)
: undefined);
return obj;
},
fromPartial(object) {
const message = createBaseRay();
message.origin =
object.origin !== undefined && object.origin !== null
? exports.Vec3.fromPartial(object.origin)
: undefined;
message.direction =
object.direction !== undefined && object.direction !== null
? exports.Vec3.fromPartial(object.direction)
: undefined;
return message;
},
};
function createBaseSE2Pose() {
return { position: undefined, angle: 0 };
}
exports.SE2Pose = {
encode(message, writer = minimal_1.default.Writer.create()) {
if (message.position !== undefined) {
exports.Vec2.encode(message.position, writer.uint32(10).fork()).ldelim();
}
if (message.angle !== 0) {
writer.uint32(17).double(message.angle);
}
return writer;
},
decode(input, length) {
const reader = input instanceof minimal_1.default.Reader ? input : new minimal_1.default.Reader(input);
let end = length === undefined ? reader.len : reader.pos + length;
const message = createBaseSE2Pose();
while (reader.pos < end) {
const tag = reader.uint32();
switch (tag >>> 3) {
case 1:
message.position = exports.Vec2.decode(reader, reader.uint32());
break;
case 2:
message.angle = reader.double();
break;
default:
reader.skipType(tag & 7);
break;
}
}
return message;
},
fromJSON(object) {
return {
position: isSet(object.position)
? exports.Vec2.fromJSON(object.position)
: undefined,
angle: isSet(object.angle) ? Number(object.angle) : 0,
};
},
toJSON(message) {
const obj = {};
message.position !== undefined &&
(obj.position = message.position
? exports.Vec2.toJSON(message.position)
: undefined);
message.angle !== undefined && (obj.angle = message.angle);
return obj;
},
fromPartial(object) {
const message = createBaseSE2Pose();
message.position =
object.position !== undefined && object.position !== null
? exports.Vec2.fromPartial(object.position)
: undefined;
message.angle = object.angle ?? 0;
return message;
},
};
function createBaseSE2Velocity() {
return { linear: undefined, angular: 0 };
}
exports.SE2Velocity = {
encode(message, writer = minimal_1.default.Writer.create()) {
if (message.linear !== undefined) {
exports.Vec2.encode(message.linear, writer.uint32(10).fork()).ldelim();
}
if (message.angular !== 0) {
writer.uint32(17).double(message.angular);
}
return writer;
},
decode(input, length) {
const reader = input instanceof minimal_1.default.Reader ? input : new minimal_1.default.Reader(input);
let end = length === undefined ? reader.len : reader.pos + length;
const message = createBaseSE2Velocity();
while (reader.pos < end) {
const tag = reader.uint32();
switch (tag >>> 3) {
case 1:
message.linear = exports.Vec2.decode(reader, reader.uint32());
break;
case 2:
message.angular = reader.double();
break;
default:
reader.skipType(tag & 7);
break;
}
}
return message;
},
fromJSON(object) {
return {
linear: isSet(object.linear) ? exports.Vec2.fromJSON(object.linear) : undefined,
angular: isSet(object.angular) ? Number(object.angular) : 0,
};
},
toJSON(message) {
const obj = {};
message.linear !== undefined &&
(obj.linear = message.linear ? exports.Vec2.toJSON(message.linear) : undefined);
message.angular !== undefined && (obj.angular = message.angular);
return obj;
},
fromPartial(object) {
const message = createBaseSE2Velocity();
message.linear =
object.linear !== undefined && object.linear !== null
? exports.Vec2.fromPartial(object.linear)
: undefined;
message.angular = object.angular ?? 0;
return message;
},
};
function createBaseSE2VelocityLimit() {
return { maxVel: undefined, minVel: undefined };
}
exports.SE2VelocityLimit = {
encode(message, writer = minimal_1.default.Writer.create()) {
if (message.maxVel !== undefined) {
exports.SE2Velocity.encode(message.maxVel, writer.uint32(10).fork()).ldelim();
}
if (message.minVel !== undefined) {
exports.SE2Velocity.encode(message.minVel, writer.uint32(18).fork()).ldelim();
}
return writer;
},
decode(input, length) {
const reader = input instanceof minimal_1.default.Reader ? input : new minimal_1.default.Reader(input);
let end = length === undefined ? reader.len : reader.pos + length;
const message = createBaseSE2VelocityLimit();
while (reader.pos < end) {
const tag = reader.uint32();
switch (tag >>> 3) {
case 1:
message.maxVel = exports.SE2Velocity.decode(reader, reader.uint32());
break;
case 2:
message.minVel = exports.SE2Velocity.decode(reader, reader.uint32());
break;
default:
reader.skipType(tag & 7);
break;
}
}
return message;
},
fromJSON(object) {
return {
maxVel: isSet(object.maxVel)
? exports.SE2Velocity.fromJSON(object.maxVel)
: undefined,
minVel: isSet(object.minVel)
? exports.SE2Velocity.fromJSON(object.minVel)
: undefined,
};
},
toJSON(message) {
const obj = {};
message.maxVel !== undefined &&
(obj.maxVel = message.maxVel
? exports.SE2Velocity.toJSON(message.maxVel)
: undefined);
message.minVel !== undefined &&
(obj.minVel = message.minVel
? exports.SE2Velocity.toJSON(message.minVel)
: undefined);
return obj;
},
fromPartial(object) {
const message = createBaseSE2VelocityLimit();
message.maxVel =
object.maxVel !== undefined && object.maxVel !== null
? exports.SE2Velocity.fromPartial(object.maxVel)
: undefined;
message.minVel =
object.minVel !== undefined && object.minVel !== null
? exports.SE2Velocity.fromPartial(object.minVel)
: undefined;
return message;
},
};
function createBaseSE3Pose() {
return { position: undefined, rotation: undefined };
}
exports.SE3Pose = {
encode(message, writer = minimal_1.default.Writer.create()) {
if (message.position !== undefined) {
exports.Vec3.encode(message.position, writer.uint32(10).fork()).ldelim();
}
if (message.rotation !== undefined) {
exports.Quaternion.encode(message.rotation, writer.uint32(18).fork()).ldelim();
}
return writer;
},
decode(input, length) {
const reader = input instanceof minimal_1.default.Reader ? input : new minimal_1.default.Reader(input);
let end = length === undefined ? reader.len : reader.pos + length;
const message = createBaseSE3Pose();
while (reader.pos < end) {
const tag = reader.uint32();
switch (tag >>> 3) {
case 1:
message.position = exports.Vec3.decode(reader, reader.uint32());
break;
case 2:
message.rotation = exports.Quaternion.decode(reader, reader.uint32());
break;
default:
reader.skipType(tag & 7);
break;
}
}
return message;
},
fromJSON(object) {
return {
position: isSet(object.position)
? exports.Vec3.fromJSON(object.position)
: undefined,
rotation: isSet(object.rotation)
? exports.Quaternion.fromJSON(object.rotation)
: undefined,
};
},
toJSON(message) {
const obj = {};
message.position !== undefined &&
(obj.position = message.position
? exports.Vec3.toJSON(message.position)
: undefined);
message.rotation !== undefined &&
(obj.rotation = message.rotation
? exports.Quaternion.toJSON(message.rotation)
: undefined);
return obj;
},
fromPartial(object) {
const message = createBaseSE3Pose();
message.position =
object.position !== undefined && object.position !== null
? exports.Vec3.fromPartial(object.position)
: undefined;
message.rotation =
object.rotation !== undefined && object.rotation !== null
? exports.Quaternion.fromPartial(object.rotation)
: undefined;
return message;
},
};
function createBaseSE3Velocity() {
return { linear: undefined, angular: undefined };
}
exports.SE3Velocity = {
encode(message, writer = minimal_1.default.Writer.create()) {
if (message.linear !== undefined) {
exports.Vec3.encode(message.linear, writer.uint32(10).fork()).ldelim();
}
if (message.angular !== undefined) {
exports.Vec3.encode(message.angular, writer.uint32(18).fork()).ldelim();
}
return writer;
},
decode(input, length) {
const reader = input instanceof minimal_1.default.Reader ? input : new minimal_1.default.Reader(input);
let end = length === undefined ? reader.len : reader.pos + length;
const message = createBaseSE3Velocity();
while (reader.pos < end) {
const tag = reader.uint32();
switch (tag >>> 3) {
case 1:
message.linear = exports.Vec3.decode(reader, reader.uint32());
break;
case 2:
message.angular = exports.Vec3.decode(reader, reader.uint32());
break;
default:
reader.skipType(tag & 7);
break;
}
}
return message;
},
fromJSON(object) {
return {
linear: isSet(object.linear) ? exports.Vec3.fromJSON(object.linear) : undefined,
angular: isSet(object.angular)
? exports.Vec3.fromJSON(object.angular)
: undefined,
};
},
toJSON(message) {
const obj = {};
message.linear !== undefined &&
(obj.linear = message.linear ? exports.Vec3.toJSON(message.linear) : undefined);
message.angular !== undefined &&
(obj.angular = message.angular
? exports.Vec3.toJSON(message.angular)
: undefined);
return obj;
},
fromPartial(object) {
const message = createBaseSE3Velocity();
message.linear =
object.linear !== undefined && object.linear !== null
? exports.Vec3.fromPartial(object.linear)
: undefined;
message.angular =
object.angular !== undefined && object.angular !== null
? exports.Vec3.fromPartial(object.angular)
: undefined;
return message;
},
};
function createBaseWrench() {
return { force: undefined, torque: undefined };
}
exports.Wrench = {
encode(message, writer = minimal_1.default.Writer.create()) {
if (message.force !== undefined) {
exports.Vec3.encode(message.force, writer.uint32(10).fork()).ldelim();
}
if (message.torque !== undefined) {
exports.Vec3.encode(message.torque, writer.uint32(18).fork()).ldelim();
}
return writer;
},
decode(input, length) {
const reader = input instanceof minimal_1.default.Reader ? input : new minimal_1.default.Reader(input);
let end = length === undefined ? reader.len : reader.pos + length;
const message = createBaseWrench();
while (reader.pos < end) {
const tag = reader.uint32();
switch (tag >>> 3) {
case 1:
message.force = exports.Vec3.decode(reader, reader.uint32());
break;
case 2:
message.torque = exports.Vec3.decode(reader, reader.uint32());
break;
default:
reader.skipType(tag & 7);
break;
}
}
return message;
},
fromJSON(object) {
return {
force: isSet(object.force) ? exports.Vec3.fromJSON(object.force) : undefined,
torque: isSet(object.torque) ? exports.Vec3.fromJSON(object.torque) : undefined,
};
},
toJSON(message) {
const obj = {};
message.force !== undefined &&
(obj.force = message.force ? exports.Vec3.toJSON(message.force) : undefined);
message.torque !== undefined &&
(obj.torque = message.torque ? exports.Vec3.toJSON(message.torque) : undefined);
return obj;
},
fromPartial(object) {
const message = createBaseWrench();
message.force =
object.force !== undefined && object.force !== null
? exports.Vec3.fromPartial(object.force)
: undefined;
message.torque =
object.torque !== undefined && object.torque !== null
? exports.Vec3.fromPartial(object.torque)
: undefined;
return message;
},
};
function createBaseFrameTreeSnapshot() {
return { childToParentEdgeMap: {} };
}
exports.FrameTreeSnapshot = {
encode(message, writer = minimal_1.default.Writer.create()) {
Object.entries(message.childToParentEdgeMap).forEach(([key, value]) => {
exports.FrameTreeSnapshot_ChildToParentEdgeMapEntry.encode({ key: key, value }, writer.uint32(10).fork()).ldelim();
});
return writer;
},
decode(input, length) {
const reader = input instanceof minimal_1.default.Reader ? input : new minimal_1.default.Reader(input);
let end = length === undefined ? reader.len : reader.pos + length;
const message = createBaseFrameTreeSnapshot();
while (reader.pos < end) {
const tag = reader.uint32();
switch (tag >>> 3) {
case 1:
const entry1 = exports.FrameTreeSnapshot_ChildToParentEdgeMapEntry.decode(reader, reader.uint32());
if (entry1.value !== undefined) {
message.childToParentEdgeMap[entry1.key] = entry1.value;
}
break;
default:
reader.skipType(tag & 7);
break;
}
}
return message;
},
fromJSON(object) {
return {
childToParentEdgeMap: isObject(object.childToParentEdgeMap)
? Object.entries(object.childToParentEdgeMap).reduce((acc, [key, value]) => {
acc[key] = exports.FrameTreeSnapshot_ParentEdge.fromJSON(value);
return acc;
}, {})
: {},
};
},
toJSON(message) {
const obj = {};
obj.childToParentEdgeMap = {};
if (message.childToParentEdgeMap) {
Object.entries(message.childToParentEdgeMap).forEach(([k, v]) => {
obj.childToParentEdgeMap[k] = exports.FrameTreeSnapshot_ParentEdge.toJSON(v);
});
}
return obj;
},
fromPartial(object) {
const message = createBaseFrameTreeSnapshot();
message.childToParentEdgeMap = Object.entries(object.childToParentEdgeMap ?? {}).reduce((acc, [key, value]) => {
if (value !== undefined) {
acc[key] = exports.FrameTreeSnapshot_ParentEdge.fromPartial(value);
}
return acc;
}, {});
return message;
},
};
function createBaseFrameTreeSnapshot_ParentEdge() {
return { parentFrameName: "", parentTformChild: undefined };
}
exports.FrameTreeSnapshot_ParentEdge = {
encode(message, writer = minimal_1.default.Writer.create()) {
if (message.parentFrameName !== "") {
writer.uint32(10).string(message.parentFrameName);
}
if (message.parentTformChild !== undefined) {
exports.SE3Pose.encode(message.parentTformChild, writer.uint32(18).fork()).ldelim();
}
return writer;
},
decode(input, length) {
const reader = input instanceof minimal_1.default.Reader ? input : new minimal_1.default.Reader(input);
let end = length === undefined ? reader.len : reader.pos + length;
const message = createBaseFrameTreeSnapshot_ParentEdge();
while (reader.pos < end) {
const tag = reader.uint32();
switch (tag >>> 3) {
case 1:
message.parentFrameName = reader.string();
break;
case 2:
message.parentTformChild = exports.SE3Pose.decode(reader, reader.uint32());
break;
default:
reader.skipType(tag & 7);
break;
}
}
return message;
},
fromJSON(object) {
return {
parentFrameName: isSet(object.parentFrameName)
? String(object.parentFrameName)
: "",
parentTformChild: isSet(object.parentTformChild)
? exports.SE3Pose.fromJSON(object.parentTformChild)
: undefined,
};
},
toJSON(message) {
const obj = {};
message.parentFrameName !== undefined &&
(obj.parentFrameName = message.parentFrameName);
message.parentTformChild !== undefined &&
(obj.parentTformChild = message.parentTformChild
? exports.SE3Pose.toJSON(message.parentTformChild)
: undefined);
return obj;
},
fromPartial(object) {
const message = createBaseFrameTreeSnapshot_ParentEdge();
message.parentFrameName = object.parentFrameName ?? "";
message.parentTformChild =
object.parentTformChild !== undefined && object.parentTformChild !== null
? exports.SE3Pose.fromPartial(object.parentTformChild)
: undefined;
return message;
},
};
function createBaseFrameTreeSnapshot_ChildToParentEdgeMapEntry() {
return { key: "", value: undefined };
}
exports.FrameTreeSnapshot_ChildToParentEdgeMapEntry = {
encode(message, writer = minimal_1.default.Writer.create()) {
if (message.key !== "") {
writer.uint32(10).string(message.key);
}
if (message.value !== undefined) {
exports.FrameTreeSnapshot_ParentEdge.encode(message.value, writer.uint32(18).fork()).ldelim();
}
return writer;
},
decode(input, length) {
const reader = input instanceof minimal_1.default.Reader ? input : new minimal_1.default.Reader(input);
let end = length === undefined ? reader.len : reader.pos + length;
const message = createBaseFrameTreeSnapshot_ChildToParentEdgeMapEntry();
while (reader.pos < end) {
const tag = reader.uint32();
switch (tag >>> 3) {
case 1:
message.key = reader.string();
break;
case 2:
message.value = exports.FrameTreeSnapshot_ParentEdge.decode(reader, reader.uint32());
break;
default:
reader.skipType(tag & 7);
break;
}
}
return message;
},
fromJSON(object) {
return {
key: isSet(object.key) ? String(object.key) : "",
value: isSet(object.value)
? exports.FrameTreeSnapshot_ParentEdge.fromJSON(object.value)
: undefined,
};
},
toJSON(message) {
const obj = {};
message.key !== undefined && (obj.key = message.key);
message.value !== undefined &&
(obj.value = message.value
? exports.FrameTreeSnapshot_ParentEdge.toJSON(message.value)
: undefined);
return obj;
},
fromPartial(object) {
const message = createBaseFrameTreeSnapshot_ChildToParentEdgeMapEntry();
message.key = object.key ?? "";
message.value =
object.value !== undefined && object.value !== null
? exports.FrameTreeSnapshot_ParentEdge.fromPartial(object.value)
: undefined;
return message;
},
};
function createBaseBox2() {
return { size: undefined };
}
exports.Box2 = {
encode(message, writer = minimal_1.default.Writer.create()) {
if (message.size !== undefined) {
exports.Vec2.encode(message.size, writer.uint32(10).fork()).ldelim();
}
return writer;
},
decode(input, length) {
const reader = input instanceof minimal_1.default.Reader ? input : new minimal_1.default.Reader(input);
let end = length === undefined ? reader.len : reader.pos + length;
const message = createBaseBox2();
while (reader.pos < end) {
const tag = reader.uint32();
switch (tag >>> 3) {
case 1:
message.size = exports.Vec2.decode(reader, reader.uint32());
break;
default:
reader.skipType(tag & 7);
break;
}
}
return message;
},
fromJSON(object) {
return {
size: isSet(object.size) ? exports.Vec2.fromJSON(object.size) : undefined,
};
},
toJSON(message) {
const obj = {};
message.size !== undefined &&
(obj.size = message.size ? exports.Vec2.toJSON(message.size) : undefined);
return obj;
},
fromPartial(object) {
const message = createBaseBox2();
message.size =
object.size !== undefined && object.size !== null
? exports.Vec2.fromPartial(object.size)
: undefined;
return message;
},
};
function createBaseBox2WithFrame() {
return { box: undefined, frameName: "", frameNameTformBox: undefined };
}
exports.Box2WithFrame = {
encode(message, writer = minimal_1.default.Writer.create()) {
if (message.box !== undefined) {
exports.Box2.encode(message.box, writer.uint32(10).fork()).ldelim();
}
if (message.frameName !== "") {
writer.uint32(18).string(message.frameName);
}
if (message.frameNameTformBox !== undefined) {
exports.SE3Pose.encode(message.frameNameTformBox, writer.uint32(26).fork()).ldelim();
}
return writer;
},
decode(input, length) {
const reader = input instanceof minimal_1.default.Reader ? input : new minimal_1.default.Reader(input);
let end = length === undefined ? reader.len : reader.pos + length;
const message = createBaseBox2WithFrame();
while (reader.pos < end) {
const tag = reader.uint32();
switch (tag >>> 3) {
case 1:
message.box = exports.Box2.decode(reader, reader.uint32());
break;
case 2:
message.frameName = reader.string();
break;
case 3:
message.frameNameTformBox = exports.SE3Pose.decode(reader, reader.uint32());
break;
default:
reader.skipType(tag & 7);
break;
}
}
return message;
},
fromJSON(object) {
return {
box: isSet(object.box) ? exports.Box2.fromJSON(object.box) : undefined,
frameName: isSet(object.frameName) ? String(object.frameName) : "",
frameNameTformBox: isSet(object.frameNameTformBox)
? exports.SE3Pose.fromJSON(object.frameNameTformBox)
: undefined,
};
},
toJSON(message) {
const obj = {};
message.box !== undefined &&
(obj.box = message.box ? exports.Box2.toJSON(message.box) : undefined);
message.frameName !== undefined && (obj.frameName = message.frameName);
message.frameNameTformBox !== undefined &&
(obj.frameNameTformBox = message.frameNameTformBox
? exports.SE3Pose.toJSON(message.frameNameTformBox)
: undefined);
return obj;
},
fromPartial(object) {
const message = createBaseBox2WithFrame();
message.box =
object.box !== undefined && object.box !== null
? exports.Box2.fromPartial(object.box)
: undefined;
message.frameName = object.frameName ?? "";
message.frameNameTformBox =
object.frameNameTformBox !== undefined &&
object.frameNameTformBox !== null
? exports.SE3Pose.fromPartial(object.frameNameTformBox)
: undefined;
return message;
},
};
function createBaseBox3() {
return { size: undefined };
}
exports.Box3 = {
encode(message, writer = minimal_1.default.Writer.create()) {
if (message.size !== undefined) {
exports.Vec3.encode(message.size, writer.uint32(10).fork()).ldelim();
}
return writer;
},
decode(input, length) {
const reader = input instanceof minimal_1.default.Reader ? input : new minimal_1.default.Reader(input);
let end = length === undefined ? reader.len : reader.pos + length;
const message = createBaseBox3();
while (reader.pos < end) {
const tag = reader.uint32();
switch (tag >>> 3) {
case 1:
message.size = exports.Vec3.decode(reader, reader.uint32());
break;
default:
reader.skipType(tag & 7);
break;
}
}
return message;
},
fromJSON(object) {
return {
size: isSet(object.size) ? exports.Vec3.fromJSON(object.size) : undefined,
};
},
toJSON(message) {
const obj = {};
message.size !== undefined &&
(obj.size = message.size ? exports.Vec3.toJSON(message.size) : undefined);
return obj;
},
fromPartial(object) {
const message = createBaseBox3();
message.size =
object.size !== undefined && object.size !== null
? exports.Vec3.fromPartial(object.size)
: undefined;
return message;
},
};
function createBaseBox3WithFrame() {
return { box: undefined, frameName: "", frameNameTformBox: undefined };
}
exports.Box3WithFrame = {
encode(message, writer = minimal_1.default.Writer.create()) {
if (message.box !== undefined) {
exports.Box3.encode(message.box, writer.uint32(10).fork()).ldelim();
}
if (message.frameName !== "") {
writer.uint32(18).string(message.frameName);
}
if (message.frameNameTformBox !== undefined) {
exports.SE3Pose.encode(message.frameNameTformBox, writer.uint32(26).fork()).ldelim();
}
return writer;
},
decode(input, length) {
const reader = input instanceof minimal_1.default.Reader ? input : new minimal_1.default.Reader(input);
let end = length === undefined ? reader.len : reader.pos + length;
const message = createBaseBox3WithFrame();
while (reader.pos < end) {
const tag = reader.uint32();
switch (tag >>> 3) {
case 1:
message.box = exports.Box3.decode(reader, reader.uint32());
break;
case 2:
message.frameName = reader.string();
break;
case 3:
message.frameNameTformBox = exports.SE3Pose.decode(reader, reader.uint32());
break;
default:
reader.skipType(tag & 7);
break;
}
}
return message;
},
fromJSON(object) {
return {
box: isSet(object.box) ? exports.Box3.fromJSON(object.box) : undefined,
frameName: isSet(object.frameName) ? String(object.frameName) : "",
frameNameTformBox: isSet(object.frameNameTformBox)
? exports.SE3Pose.fromJSON(object.frameNameTformBox)
: undefined,
};
},
toJSON(message) {
const obj = {};
message.box !== undefined &&
(obj.box = message.box ? exports.Box3.toJSON(message.box) : undefined);
message.frameName !== undefined && (obj.frameName = message.frameName);
message.frameNameTformBox !== undefined &&
(obj.frameNameTformBox = message.frameNameTformBox
? exports.SE3Pose.toJSON(message.frameNameTformBox)
: undefined);
return obj;
},
fromPartial(object) {
const message = createBaseBox3WithFrame();
message.box =
object.box !== undefined && object.box !== null
? exports.Box3.fromPartial(object.box)
: undefined;
message.frameName = object.frameName ?? "";
message.frameNameTformBox =
object.frameNameTformBox !== undefined &&
object.frameNameTformBox !== null
? exports.SE3Pose.fromPartial(object.frameNameTformBox)
: undefined;
return message;
},
};
function createBaseMatrix() {
return { rows: 0, cols: 0, values: [] };
}
exports.Matrix = {
encode(message, writer = minimal_1.default.Writer.create()) {
if (message.rows !== 0) {
writer.uint32(8).int32(message.rows);
}
if (message.cols !== 0) {
writer.uint32(16).int32(message.cols);
}
writer.uint32(26).fork();
for (const v of message.values) {
writer.double(v);
}
writer.ldelim();
return writer;
},
decode(input, length) {
const reader = input instanceof minimal_1.default.Reader ? input : new minimal_1.default.Reader(input);
let end = length === undefined ? reader.len : reader.pos + length;
const message = createBaseMatrix();
while (reader.pos < end) {
const tag = reader.uint32();
switch (tag >>> 3) {
case 1:
message.rows = reader.int32();
break;
case 2:
message.cols = reader.int32();
break;
case 3:
if ((tag & 7) === 2) {
const end2 = reader.uint32() + reader.pos;
while (reader.pos < end2) {
message.values.push(reader.double());
}
}
else {
message.values.push(reader.double());
}
break;
default:
reader.skipType(tag & 7);
break;
}
}
return message;
},
fromJSON(object) {
return {
rows: isSet(object.rows) ? Number(object.rows) : 0,
cols: isSet(object.cols) ? Number(object.cols) : 0,
values: Array.isArray(object?.values)
? object.values.map((e) => Number(e))
: [],
};
},
toJSON(message) {
const obj = {};
message.rows !== undefined && (obj.rows = Math.round(message.rows));
message.cols !== undefined && (obj.cols = Math.round(message.cols));
if (message.values) {
obj.values = message.values.map((e) => e);
}
else {
obj.values = [];
}
return obj;
},
fromPartial(object) {
const message = createBaseMatrix();
message.rows = object.rows ?? 0;
message.cols = object.cols ?? 0;
message.values = object.values?.map((e) => e) || [];
return message;
},
};
function createBaseSE3Covariance() {
return {
matrix: undefined,
yawVariance: 0,
covXx: 0,
covXy: 0,
covXz: 0,
covYx: 0,
covYy: 0,
covYz: 0,
covZx: 0,
covZy: 0,
covZz: 0,
};
}
exports.SE3Covariance = {
encode(message, writer = minimal_1.default.Writer.create()) {
if (message.matrix !== undefined) {
exports.Matrix.encode(message.matrix, writer.uint32(10).fork()).ldelim();
}
if (message.yawVariance !== 0) {
writer.uint32(17).double(message.yawVariance);
}
if (message.covXx !== 0) {
writer.uint32(25).double(message.covXx);
}
if (message.covXy !== 0) {
writer.uint32(33).double(message.covXy);
}
if (message.covXz !== 0) {
writer.uint32(41).double(message.covXz);
}
if (message.covYx !== 0) {
writer.uint32(49).double(message.covYx);
}
if (message.covYy !== 0) {
writer.uint32(57).double(message.covYy);
}
if (message.covYz !== 0) {
writer.uint32(65).double(message.covYz);
}
if (message.covZx !== 0) {
writer.uint32(73).double(message.covZx);
}
if (message.covZy !== 0) {
writer.uint32(81).double(message.covZy);
}
if (message.covZz !== 0) {