spot-sdk-ts
Version:
TypeScript bindings based on protobufs (proto3) provided by Boston Dynamics
198 lines • 7.35 kB
JavaScript
;
var __importDefault = (this && this.__importDefault) || function (mod) {
return (mod && mod.__esModule) ? mod : { "default": mod };
};
Object.defineProperty(exports, "__esModule", { value: true });
exports.Localization = exports.Route = exports.protobufPackage = void 0;
/* eslint-disable */
const timestamp_1 = require("../../../google/protobuf/timestamp");
const map_1 = require("./map");
const geometry_1 = require("../geometry");
const minimal_1 = __importDefault(require("protobufjs/minimal"));
exports.protobufPackage = "bosdyn.api.graph_nav";
function createBaseRoute() {
return { waypointId: [], edgeId: [] };
}
exports.Route = {
encode(message, writer = minimal_1.default.Writer.create()) {
for (const v of message.waypointId) {
writer.uint32(18).string(v);
}
for (const v of message.edgeId) {
map_1.Edge_Id.encode(v, 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 = createBaseRoute();
while (reader.pos < end) {
const tag = reader.uint32();
switch (tag >>> 3) {
case 2:
message.waypointId.push(reader.string());
break;
case 3:
message.edgeId.push(map_1.Edge_Id.decode(reader, reader.uint32()));
break;
default:
reader.skipType(tag & 7);
break;
}
}
return message;
},
fromJSON(object) {
return {
waypointId: Array.isArray(object?.waypointId)
? object.waypointId.map((e) => String(e))
: [],
edgeId: Array.isArray(object?.edgeId)
? object.edgeId.map((e) => map_1.Edge_Id.fromJSON(e))
: [],
};
},
toJSON(message) {
const obj = {};
if (message.waypointId) {
obj.waypointId = message.waypointId.map((e) => e);
}
else {
obj.waypointId = [];
}
if (message.edgeId) {
obj.edgeId = message.edgeId.map((e) => e ? map_1.Edge_Id.toJSON(e) : undefined);
}
else {
obj.edgeId = [];
}
return obj;
},
fromPartial(object) {
const message = createBaseRoute();
message.waypointId = object.waypointId?.map((e) => e) || [];
message.edgeId = object.edgeId?.map((e) => map_1.Edge_Id.fromPartial(e)) || [];
return message;
},
};
function createBaseLocalization() {
return {
waypointId: "",
waypointTformBody: undefined,
seedTformBody: undefined,
timestamp: undefined,
};
}
exports.Localization = {
encode(message, writer = minimal_1.default.Writer.create()) {
if (message.waypointId !== "") {
writer.uint32(10).string(message.waypointId);
}
if (message.waypointTformBody !== undefined) {
geometry_1.SE3Pose.encode(message.waypointTformBody, writer.uint32(18).fork()).ldelim();
}
if (message.seedTformBody !== undefined) {
geometry_1.SE3Pose.encode(message.seedTformBody, writer.uint32(42).fork()).ldelim();
}
if (message.timestamp !== undefined) {
timestamp_1.Timestamp.encode(toTimestamp(message.timestamp), 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 = createBaseLocalization();
while (reader.pos < end) {
const tag = reader.uint32();
switch (tag >>> 3) {
case 1:
message.waypointId = reader.string();
break;
case 2:
message.waypointTformBody = geometry_1.SE3Pose.decode(reader, reader.uint32());
break;
case 5:
message.seedTformBody = geometry_1.SE3Pose.decode(reader, reader.uint32());
break;
case 3:
message.timestamp = fromTimestamp(timestamp_1.Timestamp.decode(reader, reader.uint32()));
break;
default:
reader.skipType(tag & 7);
break;
}
}
return message;
},
fromJSON(object) {
return {
waypointId: isSet(object.waypointId) ? String(object.waypointId) : "",
waypointTformBody: isSet(object.waypointTformBody)
? geometry_1.SE3Pose.fromJSON(object.waypointTformBody)
: undefined,
seedTformBody: isSet(object.seedTformBody)
? geometry_1.SE3Pose.fromJSON(object.seedTformBody)
: undefined,
timestamp: isSet(object.timestamp)
? fromJsonTimestamp(object.timestamp)
: undefined,
};
},
toJSON(message) {
const obj = {};
message.waypointId !== undefined && (obj.waypointId = message.waypointId);
message.waypointTformBody !== undefined &&
(obj.waypointTformBody = message.waypointTformBody
? geometry_1.SE3Pose.toJSON(message.waypointTformBody)
: undefined);
message.seedTformBody !== undefined &&
(obj.seedTformBody = message.seedTformBody
? geometry_1.SE3Pose.toJSON(message.seedTformBody)
: undefined);
message.timestamp !== undefined &&
(obj.timestamp = message.timestamp.toISOString());
return obj;
},
fromPartial(object) {
const message = createBaseLocalization();
message.waypointId = object.waypointId ?? "";
message.waypointTformBody =
object.waypointTformBody !== undefined &&
object.waypointTformBody !== null
? geometry_1.SE3Pose.fromPartial(object.waypointTformBody)
: undefined;
message.seedTformBody =
object.seedTformBody !== undefined && object.seedTformBody !== null
? geometry_1.SE3Pose.fromPartial(object.seedTformBody)
: undefined;
message.timestamp = object.timestamp ?? undefined;
return message;
},
};
function toTimestamp(date) {
const seconds = date.getTime() / 1000;
const nanos = (date.getTime() % 1000) * 1000000;
return { seconds, nanos };
}
function fromTimestamp(t) {
let millis = t.seconds * 1000;
millis += t.nanos / 1000000;
return new Date(millis);
}
function fromJsonTimestamp(o) {
if (o instanceof Date) {
return o;
}
else if (typeof o === "string") {
return new Date(o);
}
else {
return fromTimestamp(timestamp_1.Timestamp.fromJSON(o));
}
}
function isSet(value) {
return value !== null && value !== undefined;
}
//# sourceMappingURL=nav.js.map