spot-sdk-ts
Version:
TypeScript bindings based on protobufs (proto3) provided by Boston Dynamics
175 lines • 7.32 kB
TypeScript
import { Edge_Id } from "./map";
import { SE3Pose } from "../geometry";
import _m0 from "protobufjs/minimal";
export declare const protobufPackage = "bosdyn.api.graph_nav";
/** Route that the robot should follow or is currently following. */
export interface Route {
/** Ordered list of waypoints to traverse, starting from index 0. */
waypointId: string[];
/** Ordered list of edges to traverse between those waypoints. */
edgeId: Edge_Id[];
}
/**
* The localization state of the robot. This reports the pose of the robot relative
* to a particular waypoint on the graph nav map.
*/
export interface Localization {
/** Waypoint this localization is relative to. */
waypointId: string;
/** Pose of body in waypoint frame. */
waypointTformBody: SE3Pose | undefined;
/**
* Pose of body in a common reference frame. The common reference frame defaults to the starting
* fiducial frame, but can be changed. See Anchoring for more info.
*/
seedTformBody: SE3Pose | undefined;
/** Time (in robot time basis) that this localization was valid. */
timestamp: Date | undefined;
}
export declare const Route: {
encode(message: Route, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): Route;
fromJSON(object: any): Route;
toJSON(message: Route): unknown;
fromPartial<I extends {
waypointId?: string[] | undefined;
edgeId?: {
fromWaypoint?: string | undefined;
toWaypoint?: string | undefined;
}[] | undefined;
} & {
waypointId?: (string[] & string[] & { [K in Exclude<keyof I["waypointId"], keyof string[]>]: never; }) | undefined;
edgeId?: ({
fromWaypoint?: string | undefined;
toWaypoint?: string | undefined;
}[] & ({
fromWaypoint?: string | undefined;
toWaypoint?: string | undefined;
} & {
fromWaypoint?: string | undefined;
toWaypoint?: string | undefined;
} & { [K_1 in Exclude<keyof I["edgeId"][number], keyof Edge_Id>]: never; })[] & { [K_2 in Exclude<keyof I["edgeId"], keyof {
fromWaypoint?: string | undefined;
toWaypoint?: string | undefined;
}[]>]: never; }) | undefined;
} & { [K_3 in Exclude<keyof I, keyof Route>]: never; }>(object: I): Route;
};
export declare const Localization: {
encode(message: Localization, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): Localization;
fromJSON(object: any): Localization;
toJSON(message: Localization): unknown;
fromPartial<I extends {
waypointId?: string | undefined;
waypointTformBody?: {
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;
seedTformBody?: {
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;
timestamp?: Date | undefined;
} & {
waypointId?: string | undefined;
waypointTformBody?: ({
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["waypointTformBody"]["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["waypointTformBody"]["rotation"], keyof import("../geometry").Quaternion>]: never; }) | undefined;
} & { [K_2 in Exclude<keyof I["waypointTformBody"], keyof SE3Pose>]: never; }) | undefined;
seedTformBody?: ({
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_3 in Exclude<keyof I["seedTformBody"]["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_4 in Exclude<keyof I["seedTformBody"]["rotation"], keyof import("../geometry").Quaternion>]: never; }) | undefined;
} & { [K_5 in Exclude<keyof I["seedTformBody"], keyof SE3Pose>]: never; }) | undefined;
timestamp?: Date | undefined;
} & { [K_6 in Exclude<keyof I, keyof Localization>]: never; }>(object: I): Localization;
};
declare type Builtin = Date | Function | Uint8Array | string | number | boolean | undefined;
export declare type DeepPartial<T> = T extends Builtin ? T : T extends Array<infer U> ? Array<DeepPartial<U>> : T extends ReadonlyArray<infer U> ? ReadonlyArray<DeepPartial<U>> : T extends {} ? {
[K in keyof T]?: DeepPartial<T[K]>;
} : Partial<T>;
declare type KeysOfUnion<T> = T extends T ? keyof T : never;
export declare type Exact<P, I extends P> = P extends Builtin ? P : P & {
[K in keyof P]: Exact<P[K], I[K]>;
} & {
[K in Exclude<keyof I, KeysOfUnion<P>>]: never;
};
export {};
//# sourceMappingURL=nav.d.ts.map