spot-sdk-ts
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TypeScript bindings based on protobufs (proto3) provided by Boston Dynamics
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TypeScript
import { SE3Pose, SE3Covariance, SE2VelocityLimit } from "../geometry";
import { ImageResponse } from "../image";
import { PointCloud } from "../point_cloud";
import { WorldObject } from "../world_object";
import { RobotState, FootState } from "../robot_state";
import { LocalGrid } from "../local_grid";
import { Payload } from "../payload";
import { MobilityParams } from "../spot/robot_command";
import { StraightStaircase } from "../stairs";
import _m0 from "protobufjs/minimal";
export declare const protobufPackage = "bosdyn.api.graph_nav";
/** Indicator of whether or not the waypoint and edge annotations are complete and filled out. */
export declare enum AnnotationState {
/** ANNOTATION_STATE_UNKNOWN - No assertions made about this annotation. */
ANNOTATION_STATE_UNKNOWN = 0,
/** ANNOTATION_STATE_SET - This annotation and all of its fields have been deliberately set. */
ANNOTATION_STATE_SET = 1,
/** ANNOTATION_STATE_NONE - This annotation has been deliberately set to "no annotation" -- any subfields are unset. */
ANNOTATION_STATE_NONE = 2,
UNRECOGNIZED = -1
}
export declare function annotationStateFromJSON(object: any): AnnotationState;
export declare function annotationStateToJSON(object: AnnotationState): string;
/**
* A base element of the graph nav map. A waypoint consists of a reference frame, a name,
* a unique ID, annotations, and sensor data.
*/
export interface Waypoint {
/**
* Identifier of the waypoint. Unique across all maps.
* This identifier does not have to be updated when its fields change.
*/
id: string;
/** Identifier of this waypoint's Snapshot data. */
snapshotId: string;
/** Transform from the KO frame (at time of recording) to the waypoint. */
waypointTformKo: SE3Pose | undefined;
/** Annotations specific to the current waypoint. */
annotations: Waypoint_Annotations | undefined;
}
export declare enum Waypoint_WaypointSource {
WAYPOINT_SOURCE_UNKNOWN = 0,
/** WAYPOINT_SOURCE_ROBOT_PATH - Waypoints from the robot's location during recording. */
WAYPOINT_SOURCE_ROBOT_PATH = 1,
/** WAYPOINT_SOURCE_USER_REQUEST - Waypoints with user-requested placement. */
WAYPOINT_SOURCE_USER_REQUEST = 2,
/** WAYPOINT_SOURCE_ALTERNATE_ROUTE_FINDING - Waypoints that may help find alternate routes. */
WAYPOINT_SOURCE_ALTERNATE_ROUTE_FINDING = 3,
UNRECOGNIZED = -1
}
export declare function waypoint_WaypointSourceFromJSON(object: any): Waypoint_WaypointSource;
export declare function waypoint_WaypointSourceToJSON(object: Waypoint_WaypointSource): string;
/** Annotations understood by BostonDynamics systems. */
export interface Waypoint_Annotations {
/** Human-friendly name of the waypoint. For example, "Kitchen Fridge" */
name: string;
/** The time that the waypoint was created while recording a map. */
creationTime: Date | undefined;
/** Estimate of the variance of ICP when performed at this waypoint, collected at record time. */
icpVariance: SE3Covariance | undefined;
/** Options for how to localize to a waypoint (if at all). */
scanMatchRegion: Waypoint_Annotations_LocalizeRegion | undefined;
/** How this waypoint was made. */
waypointSource: Waypoint_WaypointSource;
}
export interface Waypoint_Annotations_LocalizeRegion {
/** Check this before reading other fields. */
state: AnnotationState;
/** Oneof field that describes the waypoint's location as a default region (no special features/traits). */
defaultRegion: Waypoint_Annotations_LocalizeRegion_Default | undefined;
/** Oneof field that describes the waypoint's location as a empty/featureless region. */
empty: Waypoint_Annotations_LocalizeRegion_Empty | undefined;
/** Oneof field that describes the waypoint's location as a circular region. */
circle: Waypoint_Annotations_LocalizeRegion_Circle2D | undefined;
}
/** Use the default region to localize in. */
export interface Waypoint_Annotations_LocalizeRegion_Default {
}
/** Do not localize to this waypoint. */
export interface Waypoint_Annotations_LocalizeRegion_Empty {
}
/**
* Indicates the number of meters away we can be from this waypoint we can be before scan
* matching.
* - If zero, the default value is used.
* - If less than zero, no scan matching will be performed at this waypoint.
* - If greater than zero, scan matching will only be performed if the robot is at most this
* far away from the waypoint.
* Distance calculation is done in the 2d plane with respect to the waypoint.
*/
export interface Waypoint_Annotations_LocalizeRegion_Circle2D {
/** meters. */
dist2d: number;
}
/**
* Relevant data collected at the waypoint.
* May be used for localization or automatically generating annotations, for example.
* Should be indexed by a waypoint's "snapshot_id" field.
*/
export interface WaypointSnapshot {
/**
* Identifier of this snapshot.
* Snapshots are immutable -- if any of the other fields change, this ID must also change.
*/
id: string;
/** Any images captured at the waypoint. */
images: ImageResponse[];
/** Aggregated point cloud data. */
pointCloud: PointCloud | undefined;
/** Perception objects seen at snapshot time. */
objects: WorldObject[];
/** Full robot state during snapshot. */
robotState: RobotState | undefined;
/** Robot grid data. */
robotLocalGrids: LocalGrid[];
/** If true, the point cloud of this snapshot has been processed. */
isPointCloudProcessed: boolean;
/**
* If this snapshot is a modified version of the raw snapshot with the given ID (for example, it has been processed),
* a new unique ID will we assigned to this field. If the field is empty, this is the raw version of the snapshot.
*/
versionId: string;
/**
* If true, the point cloud contains data from a remote point cloud service,
* such as LIDAR.
*/
hasRemotePointCloudSensor: boolean;
/**
* Transform from the robot body to the remote point cloud sensor's
* reference frame.
*/
bodyTformRemotePointCloudSensor: SE3Pose | undefined;
/** Defines the payloads attached to the robot at this waypoint. */
payloads: Payload[];
}
/**
* A base element of the graph nav map. Edges consist of a directed edge from one
* waypoint to another and a transform that estimates the relationship in 3D space
* between the two waypoints.
*/
export interface Edge {
/**
* Identifier of this Edge.
* Edges are mutable -- the identifier does not have to be updated when other fields change.
*/
id: Edge_Id | undefined;
/** Identifier of this edge's Snapshot data. */
snapshotId: string;
/** Describes the transform between the "from" waypoint and the "to" waypoint. */
fromTformTo: SE3Pose | undefined;
/** Annotations specific to the current edge. */
annotations: Edge_Annotations | undefined;
}
export declare enum Edge_EdgeSource {
EDGE_SOURCE_UNKNOWN = 0,
/** EDGE_SOURCE_ODOMETRY - Edges with transforms from odometry. */
EDGE_SOURCE_ODOMETRY = 1,
/** EDGE_SOURCE_SMALL_LOOP_CLOSURE - Edges with transforms from a short chain of other edges. */
EDGE_SOURCE_SMALL_LOOP_CLOSURE = 2,
/** EDGE_SOURCE_FIDUCIAL_LOOP_CLOSURE - Edges with transforms from multiple fiducial observations. */
EDGE_SOURCE_FIDUCIAL_LOOP_CLOSURE = 3,
/** EDGE_SOURCE_ALTERNATE_ROUTE_FINDING - Edges that may help find alternate routes. */
EDGE_SOURCE_ALTERNATE_ROUTE_FINDING = 4,
/** EDGE_SOURCE_USER_REQUEST - Created via a CreateEdge RPC. */
EDGE_SOURCE_USER_REQUEST = 5,
UNRECOGNIZED = -1
}
export declare function edge_EdgeSourceFromJSON(object: any): Edge_EdgeSource;
export declare function edge_EdgeSourceToJSON(object: Edge_EdgeSource): string;
/**
* An edge is uniquely identified by the waypoints it connects.
* Two waypoints will only ever be connected by a single edge.
* That edge is traversable in either direction.
*/
export interface Edge_Id {
/** Identifier of the "from" waypoint. */
fromWaypoint: string;
/** Identifier of the "to" waypoint. */
toWaypoint: string;
}
/** Annotations understood by BostonDynamics systems. */
export interface Edge_Annotations {
/**
* Velocity limits to use while traversing the edge.
* These are maxima and minima, NOT target speeds.
* NOTE: as of 2.4 this is deprecated. Please use mobility_params.vel_limit.
*
* @deprecated
*/
velLimit: SE2VelocityLimit | undefined;
/** Stairs information/parameters specific to the edge. */
stairs: Edge_Annotations_StairData | undefined;
/**
* Direction constraints for how the robot must move and the directions it can face
* when traversing the edge.
*/
directionConstraint: Edge_Annotations_DirectionConstraint;
/** If true, the robot must be aligned with the edge in yaw before traversing it. */
requireAlignment: boolean | undefined;
/** If true, the edge crosses flat ground and the robot shouldn't try to climb over obstacles. */
flatGround: boolean | undefined;
/**
* Terrain coefficient of friction user hint. This value must be postive and will clamped if
* necessary on the robot side. Best suggested values lie in the range between 0.4 and 0.8
* (which is the robot's default.)
* WARNING: deprecated as of 2.1. Use mobility_params instead, which includes ground_mu_hint
* as part of the terrain_params.
*
* @deprecated
*/
groundMuHint: number | undefined;
/**
* If true, the edge crosses over grated metal. This changes some parameters of the robot's
* perception system to allow it to see grated floors bettter.
* WARNING: deprecated as of 2.1. Use mobility_params instead, which includes grated_floor
* as part of the terrain_params.
*
* @deprecated
*/
gratedFloor: boolean | undefined;
/**
* Overrides the following fields of the mobility parameters to whatever is
* stored in the map. For example, if this FieldMask contains "stair_hint" and
* "terrain_params.enable_grated_floor", then the map will be
* annotated with "stair_hint" and "enable_grated_floor" settings. An empty FieldMask means all fields are active
* annotations. Note that the more conservative of the velocity limit stored in the mobility parameters and the
* TravelParams of the entire route will be used for this edge (regardless of what override_mobility_params says).
*/
overrideMobilityParams: string[] | undefined;
/**
* Contains terrain parameters, swing height, obstacle avoidance parameters, etc.
* When the robot crosses this edge, it will use the mobility parameters here.
*/
mobilityParams: MobilityParams | undefined;
/** Assign edges a cost; used when finding the "shortest" (lowest cost) path. */
cost: number | undefined;
/** How this edge was made. */
edgeSource: Edge_EdgeSource;
/** If true, disables alternate-route-finding for this edge. */
disableAlternateRouteFinding: boolean;
}
export declare enum Edge_Annotations_DirectionConstraint {
/** DIRECTION_CONSTRAINT_UNKNOWN - We don't know if there are direction constraints. */
DIRECTION_CONSTRAINT_UNKNOWN = 0,
/** DIRECTION_CONSTRAINT_NO_TURN - The robot must not turn while walking the edge, but can face either waypoint. */
DIRECTION_CONSTRAINT_NO_TURN = 1,
/** DIRECTION_CONSTRAINT_FORWARD - Robot should walk the edge face-first. */
DIRECTION_CONSTRAINT_FORWARD = 2,
/** DIRECTION_CONSTRAINT_REVERSE - Robot should walk the edge rear-first. */
DIRECTION_CONSTRAINT_REVERSE = 3,
/** DIRECTION_CONSTRAINT_NONE - No constraints on which way the robot faces. */
DIRECTION_CONSTRAINT_NONE = 4,
UNRECOGNIZED = -1
}
export declare function edge_Annotations_DirectionConstraintFromJSON(object: any): Edge_Annotations_DirectionConstraint;
export declare function edge_Annotations_DirectionConstraintToJSON(object: Edge_Annotations_DirectionConstraint): string;
/** Defines any parameters of the stairs */
export interface Edge_Annotations_StairData {
/** Check this before reading other fields. */
state: AnnotationState;
/** Parameters describing a straight staircase. */
straightStaircase: StraightStaircase | undefined;
}
/**
* Relevant data collected along the edge.
* May be used for automatically generating annotations, for example.
*/
export interface EdgeSnapshot {
/**
* Identifier of this snapshot.
* Snapshots are immutable -- if any of the other fields change, this ID must also change.
*/
id: string;
/** Sampling of stances as robot traversed this edge. */
stances: EdgeSnapshot_Stance[];
}
export interface EdgeSnapshot_Stance {
/** Timestamp of the stance. */
timestamp: Date | undefined;
/** List of all the foot positions for a single stance. */
footStates: FootState[];
/** KO Body position corresponding to this stance. */
koTformBody: SE3Pose | undefined;
/** Vision Body position corresponding to this stance. */
visionTformBody: SE3Pose | undefined;
/** Does this stance correspond to a planar ground region. */
planarGround: boolean | undefined;
}
/** This associates a waypoint with a common reference frame, which is not necessarily metric. */
export interface Anchor {
/** Identifier of the waypoint. */
id: string;
/** Pose of the waypoint in the seed frame. */
seedTformWaypoint: SE3Pose | undefined;
}
/** This associates a world object with a common reference frame, which is not necessarily metric. */
export interface AnchoredWorldObject {
/** Identifier of the world object. */
id: string;
/** Pose of the object in the seed frame. */
seedTformObject: SE3Pose | undefined;
}
export interface Anchoring {
/**
* The waypoint ids for the graph, expressed in a common reference frame, which is not
* necessarily metric. If there is no anchoring, this is empty.
*/
anchors: Anchor[];
/** World objects, located in the common reference frame. */
objects: AnchoredWorldObject[];
}
/**
* This is an arbitrary collection of waypoints and edges. The edges and waypoints are not required
* to be connected. A waypoint may belong to multiple graphs. This message is used to pass around
* information about a graph's topology, and is used to serialize map topology to and from files.
* Note that the graph does not contain any of the waypoint/edge data (which is found in snapshots).
* Snapshots are stored separately.
*/
export interface Graph {
/** The waypoints for the graph (containing frames, annotations, and sensor data). */
waypoints: Waypoint[];
/** The edges connecting the graph's waypoints. */
edges: Edge[];
/** The anchoring (mapping from waypoints to their pose in a shared reference frame). */
anchoring: Anchoring | undefined;
}
export declare const Waypoint: {
encode(message: Waypoint, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): Waypoint;
fromJSON(object: any): Waypoint;
toJSON(message: Waypoint): unknown;
fromPartial<I extends {
id?: string | undefined;
snapshotId?: string | undefined;
waypointTformKo?: {
position?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
rotation?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
w?: number | undefined;
} | undefined;
} | undefined;
annotations?: {
name?: string | undefined;
creationTime?: Date | undefined;
icpVariance?: {
matrix?: {
rows?: number | undefined;
cols?: number | undefined;
values?: number[] | undefined;
} | undefined;
yawVariance?: number | undefined;
covXx?: number | undefined;
covXy?: number | undefined;
covXz?: number | undefined;
covYx?: number | undefined;
covYy?: number | undefined;
covYz?: number | undefined;
covZx?: number | undefined;
covZy?: number | undefined;
covZz?: number | undefined;
} | undefined;
scanMatchRegion?: {
state?: AnnotationState | undefined;
defaultRegion?: {} | undefined;
empty?: {} | undefined;
circle?: {
dist2d?: number | undefined;
} | undefined;
} | undefined;
waypointSource?: Waypoint_WaypointSource | undefined;
} | undefined;
} & {
id?: string | undefined;
snapshotId?: string | undefined;
waypointTformKo?: ({
position?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
rotation?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
w?: number | undefined;
} | undefined;
} & {
position?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & { [K in Exclude<keyof I["waypointTformKo"]["position"], keyof import("../geometry").Vec3>]: never; }) | undefined;
rotation?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
w?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
w?: number | undefined;
} & { [K_1 in Exclude<keyof I["waypointTformKo"]["rotation"], keyof import("../geometry").Quaternion>]: never; }) | undefined;
} & { [K_2 in Exclude<keyof I["waypointTformKo"], keyof SE3Pose>]: never; }) | undefined;
annotations?: ({
name?: string | undefined;
creationTime?: Date | undefined;
icpVariance?: {
matrix?: {
rows?: number | undefined;
cols?: number | undefined;
values?: number[] | undefined;
} | undefined;
yawVariance?: number | undefined;
covXx?: number | undefined;
covXy?: number | undefined;
covXz?: number | undefined;
covYx?: number | undefined;
covYy?: number | undefined;
covYz?: number | undefined;
covZx?: number | undefined;
covZy?: number | undefined;
covZz?: number | undefined;
} | undefined;
scanMatchRegion?: {
state?: AnnotationState | undefined;
defaultRegion?: {} | undefined;
empty?: {} | undefined;
circle?: {
dist2d?: number | undefined;
} | undefined;
} | undefined;
waypointSource?: Waypoint_WaypointSource | undefined;
} & {
name?: string | undefined;
creationTime?: Date | undefined;
icpVariance?: ({
matrix?: {
rows?: number | undefined;
cols?: number | undefined;
values?: number[] | undefined;
} | undefined;
yawVariance?: number | undefined;
covXx?: number | undefined;
covXy?: number | undefined;
covXz?: number | undefined;
covYx?: number | undefined;
covYy?: number | undefined;
covYz?: number | undefined;
covZx?: number | undefined;
covZy?: number | undefined;
covZz?: number | undefined;
} & {
matrix?: ({
rows?: number | undefined;
cols?: number | undefined;
values?: number[] | undefined;
} & {
rows?: number | undefined;
cols?: number | undefined;
values?: (number[] & number[] & { [K_3 in Exclude<keyof I["annotations"]["icpVariance"]["matrix"]["values"], keyof number[]>]: never; }) | undefined;
} & { [K_4 in Exclude<keyof I["annotations"]["icpVariance"]["matrix"], keyof import("../geometry").Matrix>]: never; }) | undefined;
yawVariance?: number | undefined;
covXx?: number | undefined;
covXy?: number | undefined;
covXz?: number | undefined;
covYx?: number | undefined;
covYy?: number | undefined;
covYz?: number | undefined;
covZx?: number | undefined;
covZy?: number | undefined;
covZz?: number | undefined;
} & { [K_5 in Exclude<keyof I["annotations"]["icpVariance"], keyof SE3Covariance>]: never; }) | undefined;
scanMatchRegion?: ({
state?: AnnotationState | undefined;
defaultRegion?: {} | undefined;
empty?: {} | undefined;
circle?: {
dist2d?: number | undefined;
} | undefined;
} & {
state?: AnnotationState | undefined;
defaultRegion?: ({} & {} & { [K_6 in Exclude<keyof I["annotations"]["scanMatchRegion"]["defaultRegion"], never>]: never; }) | undefined;
empty?: ({} & {} & { [K_7 in Exclude<keyof I["annotations"]["scanMatchRegion"]["empty"], never>]: never; }) | undefined;
circle?: ({
dist2d?: number | undefined;
} & {
dist2d?: number | undefined;
} & { [K_8 in Exclude<keyof I["annotations"]["scanMatchRegion"]["circle"], "dist2d">]: never; }) | undefined;
} & { [K_9 in Exclude<keyof I["annotations"]["scanMatchRegion"], keyof Waypoint_Annotations_LocalizeRegion>]: never; }) | undefined;
waypointSource?: Waypoint_WaypointSource | undefined;
} & { [K_10 in Exclude<keyof I["annotations"], keyof Waypoint_Annotations>]: never; }) | undefined;
} & { [K_11 in Exclude<keyof I, keyof Waypoint>]: never; }>(object: I): Waypoint;
};
export declare const Waypoint_Annotations: {
encode(message: Waypoint_Annotations, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): Waypoint_Annotations;
fromJSON(object: any): Waypoint_Annotations;
toJSON(message: Waypoint_Annotations): unknown;
fromPartial<I extends {
name?: string | undefined;
creationTime?: Date | undefined;
icpVariance?: {
matrix?: {
rows?: number | undefined;
cols?: number | undefined;
values?: number[] | undefined;
} | undefined;
yawVariance?: number | undefined;
covXx?: number | undefined;
covXy?: number | undefined;
covXz?: number | undefined;
covYx?: number | undefined;
covYy?: number | undefined;
covYz?: number | undefined;
covZx?: number | undefined;
covZy?: number | undefined;
covZz?: number | undefined;
} | undefined;
scanMatchRegion?: {
state?: AnnotationState | undefined;
defaultRegion?: {} | undefined;
empty?: {} | undefined;
circle?: {
dist2d?: number | undefined;
} | undefined;
} | undefined;
waypointSource?: Waypoint_WaypointSource | undefined;
} & {
name?: string | undefined;
creationTime?: Date | undefined;
icpVariance?: ({
matrix?: {
rows?: number | undefined;
cols?: number | undefined;
values?: number[] | undefined;
} | undefined;
yawVariance?: number | undefined;
covXx?: number | undefined;
covXy?: number | undefined;
covXz?: number | undefined;
covYx?: number | undefined;
covYy?: number | undefined;
covYz?: number | undefined;
covZx?: number | undefined;
covZy?: number | undefined;
covZz?: number | undefined;
} & {
matrix?: ({
rows?: number | undefined;
cols?: number | undefined;
values?: number[] | undefined;
} & {
rows?: number | undefined;
cols?: number | undefined;
values?: (number[] & number[] & { [K in Exclude<keyof I["icpVariance"]["matrix"]["values"], keyof number[]>]: never; }) | undefined;
} & { [K_1 in Exclude<keyof I["icpVariance"]["matrix"], keyof import("../geometry").Matrix>]: never; }) | undefined;
yawVariance?: number | undefined;
covXx?: number | undefined;
covXy?: number | undefined;
covXz?: number | undefined;
covYx?: number | undefined;
covYy?: number | undefined;
covYz?: number | undefined;
covZx?: number | undefined;
covZy?: number | undefined;
covZz?: number | undefined;
} & { [K_2 in Exclude<keyof I["icpVariance"], keyof SE3Covariance>]: never; }) | undefined;
scanMatchRegion?: ({
state?: AnnotationState | undefined;
defaultRegion?: {} | undefined;
empty?: {} | undefined;
circle?: {
dist2d?: number | undefined;
} | undefined;
} & {
state?: AnnotationState | undefined;
defaultRegion?: ({} & {} & { [K_3 in Exclude<keyof I["scanMatchRegion"]["defaultRegion"], never>]: never; }) | undefined;
empty?: ({} & {} & { [K_4 in Exclude<keyof I["scanMatchRegion"]["empty"], never>]: never; }) | undefined;
circle?: ({
dist2d?: number | undefined;
} & {
dist2d?: number | undefined;
} & { [K_5 in Exclude<keyof I["scanMatchRegion"]["circle"], "dist2d">]: never; }) | undefined;
} & { [K_6 in Exclude<keyof I["scanMatchRegion"], keyof Waypoint_Annotations_LocalizeRegion>]: never; }) | undefined;
waypointSource?: Waypoint_WaypointSource | undefined;
} & { [K_7 in Exclude<keyof I, keyof Waypoint_Annotations>]: never; }>(object: I): Waypoint_Annotations;
};
export declare const Waypoint_Annotations_LocalizeRegion: {
encode(message: Waypoint_Annotations_LocalizeRegion, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): Waypoint_Annotations_LocalizeRegion;
fromJSON(object: any): Waypoint_Annotations_LocalizeRegion;
toJSON(message: Waypoint_Annotations_LocalizeRegion): unknown;
fromPartial<I extends {
state?: AnnotationState | undefined;
defaultRegion?: {} | undefined;
empty?: {} | undefined;
circle?: {
dist2d?: number | undefined;
} | undefined;
} & {
state?: AnnotationState | undefined;
defaultRegion?: ({} & {} & { [K in Exclude<keyof I["defaultRegion"], never>]: never; }) | undefined;
empty?: ({} & {} & { [K_1 in Exclude<keyof I["empty"], never>]: never; }) | undefined;
circle?: ({
dist2d?: number | undefined;
} & {
dist2d?: number | undefined;
} & { [K_2 in Exclude<keyof I["circle"], "dist2d">]: never; }) | undefined;
} & { [K_3 in Exclude<keyof I, keyof Waypoint_Annotations_LocalizeRegion>]: never; }>(object: I): Waypoint_Annotations_LocalizeRegion;
};
export declare const Waypoint_Annotations_LocalizeRegion_Default: {
encode(_: Waypoint_Annotations_LocalizeRegion_Default, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): Waypoint_Annotations_LocalizeRegion_Default;
fromJSON(_: any): Waypoint_Annotations_LocalizeRegion_Default;
toJSON(_: Waypoint_Annotations_LocalizeRegion_Default): unknown;
fromPartial<I extends {} & {} & { [K in Exclude<keyof I, never>]: never; }>(_: I): Waypoint_Annotations_LocalizeRegion_Default;
};
export declare const Waypoint_Annotations_LocalizeRegion_Empty: {
encode(_: Waypoint_Annotations_LocalizeRegion_Empty, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): Waypoint_Annotations_LocalizeRegion_Empty;
fromJSON(_: any): Waypoint_Annotations_LocalizeRegion_Empty;
toJSON(_: Waypoint_Annotations_LocalizeRegion_Empty): unknown;
fromPartial<I extends {} & {} & { [K in Exclude<keyof I, never>]: never; }>(_: I): Waypoint_Annotations_LocalizeRegion_Empty;
};
export declare const Waypoint_Annotations_LocalizeRegion_Circle2D: {
encode(message: Waypoint_Annotations_LocalizeRegion_Circle2D, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): Waypoint_Annotations_LocalizeRegion_Circle2D;
fromJSON(object: any): Waypoint_Annotations_LocalizeRegion_Circle2D;
toJSON(message: Waypoint_Annotations_LocalizeRegion_Circle2D): unknown;
fromPartial<I extends {
dist2d?: number | undefined;
} & {
dist2d?: number | undefined;
} & { [K in Exclude<keyof I, "dist2d">]: never; }>(object: I): Waypoint_Annotations_LocalizeRegion_Circle2D;
};
export declare const WaypointSnapshot: {
encode(message: WaypointSnapshot, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): WaypointSnapshot;
fromJSON(object: any): WaypointSnapshot;
toJSON(message: WaypointSnapshot): unknown;
fromPartial<I extends {
id?: string | undefined;
images?: {
shot?: {
acquisitionTime?: Date | undefined;
transformsSnapshot?: {
childToParentEdgeMap?: {
[x: string]: {
parentFrameName?: string | undefined;
parentTformChild?: {
position?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
rotation?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
w?: number | undefined;
} | undefined;
} | undefined;
} | undefined;
} | undefined;
} | undefined;
frameNameImageSensor?: string | undefined;
image?: {
cols?: number | undefined;
rows?: number | undefined;
data?: Uint8Array | undefined;
format?: import("../image").Image_Format | undefined;
pixelFormat?: import("../image").Image_PixelFormat | undefined;
} | undefined;
captureParams?: {
exposureDuration?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
gain?: number | undefined;
} | undefined;
} | undefined;
source?: {
name?: string | undefined;
cols?: number | undefined;
rows?: number | undefined;
depthScale?: number | undefined;
pinhole?: {
intrinsics?: {
focalLength?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
principalPoint?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
skew?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
} | undefined;
} | undefined;
imageType?: import("../image").ImageSource_ImageType | undefined;
pixelFormats?: import("../image").Image_PixelFormat[] | undefined;
imageFormats?: import("../image").Image_Format[] | undefined;
} | undefined;
status?: import("../image").ImageResponse_Status | undefined;
}[] | undefined;
pointCloud?: {
source?: {
name?: string | undefined;
frameNameSensor?: string | undefined;
acquisitionTime?: Date | undefined;
transformsSnapshot?: {
childToParentEdgeMap?: {
[x: string]: {
parentFrameName?: string | undefined;
parentTformChild?: {
position?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
rotation?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
w?: number | undefined;
} | undefined;
} | undefined;
} | undefined;
} | undefined;
} | undefined;
} | undefined;
numPoints?: number | undefined;
encoding?: import("../point_cloud").PointCloud_Encoding | undefined;
encodingParameters?: {
scaleFactor?: number | undefined;
maxX?: number | undefined;
maxY?: number | undefined;
maxZ?: number | undefined;
remappingConstant?: number | undefined;
bytesPerPoint?: number | undefined;
} | undefined;
data?: Uint8Array | undefined;
} | undefined;
objects?: {
id?: number | undefined;
name?: string | undefined;
acquisitionTime?: Date | undefined;
transformsSnapshot?: {
childToParentEdgeMap?: {
[x: string]: {
parentFrameName?: string | undefined;
parentTformChild?: {
position?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
rotation?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
w?: number | undefined;
} | undefined;
} | undefined;
} | undefined;
} | undefined;
} | undefined;
drawableProperties?: {
color?: {
r?: number | undefined;
g?: number | undefined;
b?: number | undefined;
a?: number | undefined;
} | undefined;
label?: string | undefined;
wireframe?: boolean | undefined;
frame?: {
arrowLength?: number | undefined;
arrowRadius?: number | undefined;
} | undefined;
sphere?: {
radius?: number | undefined;
} | undefined;
box?: {
size?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
arrow?: {
direction?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
radius?: number | undefined;
} | undefined;
capsule?: {
direction?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
radius?: number | undefined;
} | undefined;
cylinder?: {
direction?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
radius?: number | undefined;
} | undefined;
linestrip?: {
points?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
points?: {
points?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
}[] | undefined;
} | undefined;
frameNameDrawable?: string | undefined;
}[] | undefined;
apriltagProperties?: {
tagId?: number | undefined;
dimensions?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
frameNameFiducial?: string | undefined;
fiducialPoseStatus?: import("../world_object").AprilTagProperties_AprilTagPoseStatus | undefined;
frameNameFiducialFiltered?: string | undefined;
fiducialFilteredPoseStatus?: import("../world_object").AprilTagProperties_AprilTagPoseStatus | undefined;
frameNameCamera?: string | undefined;
detectionCovariance?: {
matrix?: {
rows?: number | undefined;
cols?: number | undefined;
values?: number[] | undefined;
} | undefined;
yawVariance?: number | undefined;
covXx?: number | undefined;
covXy?: number | undefined;
covXz?: number | undefined;
covYx?: number | undefined;
covYy?: number | undefined;
covYz?: number | undefined;
covZx?: number | undefined;
covZy?: number | undefined;
covZz?: number | undefined;
} | undefined;
detectionCovarianceReferenceFrame?: string | undefined;
} | undefined;
imageProperties?: {
cameraSource?: string | undefined;
coordinates?: {
vertexes?: {
x?: number | undefined;
y?: number | undefined;
}[] | undefined;
} | undefined;
keypoints?: {
keypoints?: {
coordinates?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
binaryDescriptor?: Uint8Array | undefined;
score?: number | undefined;
size?: number | undefined;
angle?: number | undefined;
}[] | undefined;
type?: import("../sparse_features").KeypointSet_KeypointType | undefined;
} | undefined;
imageSource?: {
name?: string | undefined;
cols?: number | undefined;
rows?: number | undefined;
depthScale?: number | undefined;
pinhole?: {
intrinsics?: {
focalLength?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
principalPoint?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
skew?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
} | undefined;
} | undefined;
imageType?: import("../image").ImageSource_ImageType | undefined;
pixelFormats?: import("../image").Image_PixelFormat[] | undefined;
imageFormats?: import("../image").Image_Format[] | undefined;
} | undefined;
imageCapture?: {
acquisitionTime?: Date | undefined;
transformsSnapshot?: {
childToParentEdgeMap?: {
[x: string]: {
parentFrameName?: string | undefined;
parentTformChild?: {
position?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
rotation?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
w?: number | undefined;
} | undefined;
} | undefined;
} | undefined;
} | undefined;
} | undefined;
frameNameImageSensor?: string | undefined;
image?: {
cols?: number | undefined;
rows?: number | undefined;
data?: Uint8Array | undefined;
format?: import("../image").Image_Format | undefined;
pixelFormat?: import("../image").Image_PixelFormat | undefined;
} | undefined;
captureParams?: {
exposureDuration?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
gain?: number | undefined;
} | undefined;
} | undefined;
frameNameImageCoordinates?: string | undefined;
} | undefined;
dockProperties?: {
dockId?: number | undefined;
type?: import("../docking/docking").DockType | undefined;
frameNameDock?: string | undefined;
unavailable?: boolean | undefined;
fromPrior?: boolean | undefined;
} | undefined;
rayProperties?: {
ray?: {
origin?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
direction?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
frame?: string | undefined;
} | undefined;
boundingBoxProperties?: {
sizeEwrtFrame?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
frame?: string | undefined;
} | undefined;
additionalProperties?: {
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} | undefined;
}[] | undefined;
robotState?: {
powerState?: {
timestamp?: Date | undefined;
motorPowerState?: import("../robot_state").PowerState_MotorPowerState | undefined;
shorePowerState?: import("../robot_state").PowerState_ShorePowerState | undefined;
robotPowerState?: import("../robot_state").PowerState_RobotPowerState | undefined;
payloadPortsPowerState?: import("../robot_state").PowerState_PayloadPortsPowerState | undefined;
wifiRadioPowerState?: import("../robot_state").PowerState_WifiRadioPowerState | undefined;
locomotionChargePercentage?: number | undefined;
locomotionEstimatedRuntime?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
} | undefined;
batteryStates?: {
timestamp?: Date | undefined;
identifier?: string | undefined;
chargePercentage?: number | undefined;
estimatedRuntime?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
current?: number | undefined;
voltage?: number | undefined;
temperatures?: number[] | undefined;
status?: import("../robot_state").BatteryState_Status | undefined;
}[] | undefined;
commsStates?: {
timestamp?: Date | undefined;
wifiState?: {
currentMode?: import("../robot_state").WiFiState_Mode | undefined;
essid?: string | undefined;
} | undefined;
}[] | undefined;
systemFaultState?: {
faults?: {
name?: string | undefined;
onsetTimestamp?: Date | undefined;
duration?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
code?: number | undefined;
uid?: number | undefined;
errorMessage?: string | undefined;
attributes?: string[] | undefined;
severity?: import("../robot_state").SystemFault_Severity | undefined;
}[] | undefined;
historicalFaults?: {
name?: string | undefined;
onsetTimestamp?: Date | undefined;
duration?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
code?: number | undefined;
uid?: number | undefined;
errorMessage?: string | undefined;
attributes?: string[] | undefined;
severity?: import("../robot_state").SystemFault_Severity | undefined;
}[] | undefined;
aggregated?: {
[x: string]: import("../robot_state").SystemFault_Severity | undefined;
} | undefined;
} | undefined;
estopStates?: {
timestamp?: Date | undefined;
name?: string | undefined;
type?: import("../robot_state").EStopState_Type | undefined;
state?: import("../robot_state").EStopState_State | undefined;
stateDescription?: string | undefined;
}[] | undefined;
kinematicState?: {
jointStates?: {
name?: string | undefined;
position?: number | undefined;
velocity?: number | undefined;
acceleration?: number | undefined;
load?: number | undefined;