spot-sdk-ts
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TypeScript bindings based on protobufs (proto3) provided by Boston Dynamics
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TypeScript
import { FrameTreeSnapshot } from "./geometry";
import { RequestHeader, ResponseHeader } from "./header";
import _m0 from "protobufjs/minimal";
export declare const protobufPackage = "bosdyn.api";
/** Information about a sensor or process that produces point clouds. */
export interface PointCloudSource {
/**
* The name of the point cloud source. This is intended to be unique accross all point cloud sources,
* and should be human readable.
*/
name: string;
/**
* The frame name of the sensor. The transformation from vision_tform_sensor can be computed
* by traversing the tree in the FrameTreeSnapshot.
*/
frameNameSensor: string;
/** Time that the data was produced on the sensor in the robot's clock. */
acquisitionTime: Date | undefined;
/**
* A tree-based collection of transformations, which will include the transformations
* to the point cloud data frame and the point cloud sensor frame.
*/
transformsSnapshot: FrameTreeSnapshot | undefined;
}
/** Data from a point-cloud producing sensor or process. */
export interface PointCloud {
/** The sensor or process that produced the point cloud. */
source: PointCloudSource | undefined;
/** The number of points in the point cloud. */
numPoints: number;
/** Representation of the underlying point cloud data. */
encoding: PointCloud_Encoding;
/** Constants needed to decode the point cloud. */
encodingParameters: PointCloud_EncodingParameters | undefined;
/** Raw byte data representing the points. */
data: Uint8Array;
}
/** Point clouds may be encoded in different ways to preserve bandwidth or disk space. */
export declare enum PointCloud_Encoding {
/** ENCODING_UNKNOWN - The point cloud has an unknown encoding. */
ENCODING_UNKNOWN = 0,
/**
* ENCODING_XYZ_32F - Each point is x,y,z float32 value (12 bytes, little-endian) stored sequentially. This allows
* the point cloud to be expressed in any range and resolution represented by floating point
* numbers, but the point cloud will be larger than if one of the other encodings is used.
*/
ENCODING_XYZ_32F = 1,
/**
* ENCODING_XYZ_4SC - Each point is 3 signed int8s plus an extra shared signed int8s (4 byte).
* byte layout: [..., p1_x, p1_y, p1_z, x, ...]
* Each coordinate is mapped to a value between -1 and +1 (corresponding to a
* minimum and maximum range).
* The resulting point is:
* P = remap(p1 * f + p2, c * f, m)
* Where:
* p1 = the highest byte in each dimension of the point.
* p2 = a vector of "extra" bytes converted to metric units.
* = [mod (x, f), mod(x/f, f), mod(x/(f^2), f)] - f/2
* x = the "extra" byte for each point.
* f = An integer scale factor.
* m = [max_x, max_y, max_z], the point cloud max bounds in meters.
* c = a remapping constant.
* And:
* remap(a, b, c) = (a + b)/(2 * b) - c
* Point clouds use 1/3 the memory of XYZ_32F, but have limits on resolution
* and range. Points must not lie outside of the box of size [-m, m]. Within that box,
* the resolution of the point cloud will depend on the encoding parameters.
* For example if m = [10, 10, 10], and f = 5 with c = 127 the resolution is
* approximately 1.5 cm per point.
*/
ENCODING_XYZ_4SC = 2,
/**
* ENCODING_XYZ_5SC - Each point is 3 signed int8s plus two extra shared signed int8s (5 byte).
* The encoding is the same as XYZ_4SC, except the "extra" value x is a 16 bit integer.
* This encoding has roughly double the resolution of XYZ_4SC, but takes up
* an additional byte for each point.
*/
ENCODING_XYZ_5SC = 3,
UNRECOGNIZED = -1
}
export declare function pointCloud_EncodingFromJSON(object: any): PointCloud_Encoding;
export declare function pointCloud_EncodingToJSON(object: PointCloud_Encoding): string;
/** Parameters needed to decode the point cloud. */
export interface PointCloud_EncodingParameters {
/** Used in the remapping process from bytes to metric units. (unitless) */
scaleFactor: number;
/**
* In XYZ_4SC and XYZ_5SC, the point cloud is assumed to lie inside a box
* centered in the data frame. max_x, max_y, max_z are half the dimensions
* of that box. These dimensions should be assumed to be meters.
*/
maxX: number;
/**
* max_y is half the dimensions of the assumed box (for XYZ_4SC and XYZ_5SC). These
* dimensions should be assumed to be meters.
*/
maxY: number;
/**
* max_z is half the dimensions of the assumed box (for XYZ_4SC and XYZ_5SC). These
* dimensions should be assumed to be meters.
*/
maxZ: number;
/**
* Used in the remapping process from bytes to metric units. (unitless)
* For XYZ_4SC and XYZ_5C, this should equal 127.
*/
remappingConstant: number;
/** Number of bytes in each point in this encoding. */
bytesPerPoint: number;
}
export interface ListPointCloudSourcesRequest {
/** Common request header. */
header: RequestHeader | undefined;
}
/** The GetPointCloud response message which returns any point cloud data associated with that service. */
export interface ListPointCloudSourcesResponse {
/** Common response Header. */
header: ResponseHeader | undefined;
/**
* The set of PointCloudSources available from this service.
* May be empty if the service serves no point clouds (e.g., if no sensors were found on startup).
*/
pointCloudSources: PointCloudSource[];
}
export interface PointCloudRequest {
/** Name of the point cloud source to request from. */
pointCloudSourceName: string;
}
/** The GetPointCloud request message to ask a specific point cloud service for data. */
export interface GetPointCloudRequest {
/** Common request header. */
header: RequestHeader | undefined;
/** Sources to retrieve from. The service will return a response for each PointCloudRequest. */
pointCloudRequests: PointCloudRequest[];
}
export interface PointCloudResponse {
/** Return status for the request. */
status: PointCloudResponse_Status;
/** The current point cloud from the service. */
pointCloud: PointCloud | undefined;
}
export declare enum PointCloudResponse_Status {
/**
* STATUS_UNKNOWN - UNKNOWN should never be used.
* An internal PointCloudService issue has happened if UNKNOWN is set.
* None of the other fields are filled out.
*/
STATUS_UNKNOWN = 0,
/** STATUS_OK - Call succeeded at filling out all the fields. */
STATUS_OK = 1,
/** STATUS_SOURCE_DATA_ERROR - Failed to fill out PointCloudSource. All the other fields are not filled out. */
STATUS_SOURCE_DATA_ERROR = 2,
/** STATUS_POINT_CLOUD_DATA_ERROR - There was a problem with the point cloud data. Only the PointCloudSource is filled out. */
STATUS_POINT_CLOUD_DATA_ERROR = 3,
/** STATUS_UNKNOWN_SOURCE - Provided point cloud source was not found. One */
STATUS_UNKNOWN_SOURCE = 4,
UNRECOGNIZED = -1
}
export declare function pointCloudResponse_StatusFromJSON(object: any): PointCloudResponse_Status;
export declare function pointCloudResponse_StatusToJSON(object: PointCloudResponse_Status): string;
export interface GetPointCloudResponse {
/** Common response header. */
header: ResponseHeader | undefined;
/** The resulting point clouds for each requested source. */
pointCloudResponses: PointCloudResponse[];
}
export declare const PointCloudSource: {
encode(message: PointCloudSource, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): PointCloudSource;
fromJSON(object: any): PointCloudSource;
toJSON(message: PointCloudSource): unknown;
fromPartial<I extends {
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;
} & {
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;
} & {
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;
} & {
[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;
} & {
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;
} & {
position?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & { [K in Exclude<keyof I["transformsSnapshot"]["childToParentEdgeMap"][string]["parentTformChild"]["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["transformsSnapshot"]["childToParentEdgeMap"][string]["parentTformChild"]["rotation"], keyof import("./geometry").Quaternion>]: never; }) | undefined;
} & { [K_2 in Exclude<keyof I["transformsSnapshot"]["childToParentEdgeMap"][string]["parentTformChild"], keyof import("./geometry").SE3Pose>]: never; }) | undefined;
} & { [K_3 in Exclude<keyof I["transformsSnapshot"]["childToParentEdgeMap"][string], keyof import("./geometry").FrameTreeSnapshot_ParentEdge>]: never; }) | undefined;
} & { [K_4 in Exclude<keyof I["transformsSnapshot"]["childToParentEdgeMap"], string | number>]: never; }) | undefined;
} & { [K_5 in Exclude<keyof I["transformsSnapshot"], "childToParentEdgeMap">]: never; }) | undefined;
} & { [K_6 in Exclude<keyof I, keyof PointCloudSource>]: never; }>(object: I): PointCloudSource;
};
export declare const PointCloud: {
encode(message: PointCloud, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): PointCloud;
fromJSON(object: any): PointCloud;
toJSON(message: PointCloud): unknown;
fromPartial<I extends {
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?: 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;
} & {
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;
} & {
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;
} & {
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;
} & {
[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;
} & {
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;
} & {
position?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & { [K in Exclude<keyof I["source"]["transformsSnapshot"]["childToParentEdgeMap"][string]["parentTformChild"]["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["source"]["transformsSnapshot"]["childToParentEdgeMap"][string]["parentTformChild"]["rotation"], keyof import("./geometry").Quaternion>]: never; }) | undefined;
} & { [K_2 in Exclude<keyof I["source"]["transformsSnapshot"]["childToParentEdgeMap"][string]["parentTformChild"], keyof import("./geometry").SE3Pose>]: never; }) | undefined;
} & { [K_3 in Exclude<keyof I["source"]["transformsSnapshot"]["childToParentEdgeMap"][string], keyof import("./geometry").FrameTreeSnapshot_ParentEdge>]: never; }) | undefined;
} & { [K_4 in Exclude<keyof I["source"]["transformsSnapshot"]["childToParentEdgeMap"], string | number>]: never; }) | undefined;
} & { [K_5 in Exclude<keyof I["source"]["transformsSnapshot"], "childToParentEdgeMap">]: never; }) | undefined;
} & { [K_6 in Exclude<keyof I["source"], keyof PointCloudSource>]: never; }) | undefined;
numPoints?: number | undefined;
encoding?: PointCloud_Encoding | undefined;
encodingParameters?: ({
scaleFactor?: number | undefined;
maxX?: number | undefined;
maxY?: number | undefined;
maxZ?: number | undefined;
remappingConstant?: number | undefined;
bytesPerPoint?: number | undefined;
} & {
scaleFactor?: number | undefined;
maxX?: number | undefined;
maxY?: number | undefined;
maxZ?: number | undefined;
remappingConstant?: number | undefined;
bytesPerPoint?: number | undefined;
} & { [K_7 in Exclude<keyof I["encodingParameters"], keyof PointCloud_EncodingParameters>]: never; }) | undefined;
data?: Uint8Array | undefined;
} & { [K_8 in Exclude<keyof I, keyof PointCloud>]: never; }>(object: I): PointCloud;
};
export declare const PointCloud_EncodingParameters: {
encode(message: PointCloud_EncodingParameters, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): PointCloud_EncodingParameters;
fromJSON(object: any): PointCloud_EncodingParameters;
toJSON(message: PointCloud_EncodingParameters): unknown;
fromPartial<I extends {
scaleFactor?: number | undefined;
maxX?: number | undefined;
maxY?: number | undefined;
maxZ?: number | undefined;
remappingConstant?: number | undefined;
bytesPerPoint?: number | undefined;
} & {
scaleFactor?: number | undefined;
maxX?: number | undefined;
maxY?: number | undefined;
maxZ?: number | undefined;
remappingConstant?: number | undefined;
bytesPerPoint?: number | undefined;
} & { [K in Exclude<keyof I, keyof PointCloud_EncodingParameters>]: never; }>(object: I): PointCloud_EncodingParameters;
};
export declare const ListPointCloudSourcesRequest: {
encode(message: ListPointCloudSourcesRequest, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): ListPointCloudSourcesRequest;
fromJSON(object: any): ListPointCloudSourcesRequest;
toJSON(message: ListPointCloudSourcesRequest): unknown;
fromPartial<I extends {
header?: {
requestTimestamp?: Date | undefined;
clientName?: string | undefined;
disableRpcLogging?: boolean | undefined;
} | undefined;
} & {
header?: ({
requestTimestamp?: Date | undefined;
clientName?: string | undefined;
disableRpcLogging?: boolean | undefined;
} & {
requestTimestamp?: Date | undefined;
clientName?: string | undefined;
disableRpcLogging?: boolean | undefined;
} & { [K in Exclude<keyof I["header"], keyof RequestHeader>]: never; }) | undefined;
} & { [K_1 in Exclude<keyof I, "header">]: never; }>(object: I): ListPointCloudSourcesRequest;
};
export declare const ListPointCloudSourcesResponse: {
encode(message: ListPointCloudSourcesResponse, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): ListPointCloudSourcesResponse;
fromJSON(object: any): ListPointCloudSourcesResponse;
toJSON(message: ListPointCloudSourcesResponse): unknown;
fromPartial<I extends {
header?: {
requestHeader?: {
requestTimestamp?: Date | undefined;
clientName?: string | undefined;
disableRpcLogging?: boolean | undefined;
} | undefined;
requestReceivedTimestamp?: Date | undefined;
responseTimestamp?: Date | undefined;
error?: {
code?: import("./header").CommonError_Code | undefined;
message?: string | undefined;
data?: {
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} | undefined;
} | undefined;
request?: {
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} | undefined;
} | undefined;
pointCloudSources?: {
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;
} & {
header?: ({
requestHeader?: {
requestTimestamp?: Date | undefined;
clientName?: string | undefined;
disableRpcLogging?: boolean | undefined;
} | undefined;
requestReceivedTimestamp?: Date | undefined;
responseTimestamp?: Date | undefined;
error?: {
code?: import("./header").CommonError_Code | undefined;
message?: string | undefined;
data?: {
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} | undefined;
} | undefined;
request?: {
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} | undefined;
} & {
requestHeader?: ({
requestTimestamp?: Date | undefined;
clientName?: string | undefined;
disableRpcLogging?: boolean | undefined;
} & {
requestTimestamp?: Date | undefined;
clientName?: string | undefined;
disableRpcLogging?: boolean | undefined;
} & { [K in Exclude<keyof I["header"]["requestHeader"], keyof RequestHeader>]: never; }) | undefined;
requestReceivedTimestamp?: Date | undefined;
responseTimestamp?: Date | undefined;
error?: ({
code?: import("./header").CommonError_Code | undefined;
message?: string | undefined;
data?: {
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} | undefined;
} & {
code?: import("./header").CommonError_Code | undefined;
message?: string | undefined;
data?: ({
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} & {
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} & { [K_1 in Exclude<keyof I["header"]["error"]["data"], keyof import("../../google/protobuf/any").Any>]: never; }) | undefined;
} & { [K_2 in Exclude<keyof I["header"]["error"], keyof import("./header").CommonError>]: never; }) | undefined;
request?: ({
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} & {
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} & { [K_3 in Exclude<keyof I["header"]["request"], keyof import("../../google/protobuf/any").Any>]: never; }) | undefined;
} & { [K_4 in Exclude<keyof I["header"], keyof ResponseHeader>]: never; }) | undefined;
pointCloudSources?: ({
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;
}[] & ({
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;
} & {
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;
} & {
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;
} & {
[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;
} & {
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;
} & {
position?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & { [K_5 in Exclude<keyof I["pointCloudSources"][number]["transformsSnapshot"]["childToParentEdgeMap"][string]["parentTformChild"]["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_6 in Exclude<keyof I["pointCloudSources"][number]["transformsSnapshot"]["childToParentEdgeMap"][string]["parentTformChild"]["rotation"], keyof import("./geometry").Quaternion>]: never; }) | undefined;
} & { [K_7 in Exclude<keyof I["pointCloudSources"][number]["transformsSnapshot"]["childToParentEdgeMap"][string]["parentTformChild"], keyof import("./geometry").SE3Pose>]: never; }) | undefined;
} & { [K_8 in Exclude<keyof I["pointCloudSources"][number]["transformsSnapshot"]["childToParentEdgeMap"][string], keyof import("./geometry").FrameTreeSnapshot_ParentEdge>]: never; }) | undefined;
} & { [K_9 in Exclude<keyof I["pointCloudSources"][number]["transformsSnapshot"]["childToParentEdgeMap"], string | number>]: never; }) | undefined;
} & { [K_10 in Exclude<keyof I["pointCloudSources"][number]["transformsSnapshot"], "childToParentEdgeMap">]: never; }) | undefined;
} & { [K_11 in Exclude<keyof I["pointCloudSources"][number], keyof PointCloudSource>]: never; })[] & { [K_12 in Exclude<keyof I["pointCloudSources"], keyof {
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;
}[]>]: never; }) | undefined;
} & { [K_13 in Exclude<keyof I, keyof ListPointCloudSourcesResponse>]: never; }>(object: I): ListPointCloudSourcesResponse;
};
export declare const PointCloudRequest: {
encode(message: PointCloudRequest, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): PointCloudRequest;
fromJSON(object: any): PointCloudRequest;
toJSON(message: PointCloudRequest): unknown;
fromPartial<I extends {
pointCloudSourceName?: string | undefined;
} & {
pointCloudSourceName?: string | undefined;
} & { [K in Exclude<keyof I, "pointCloudSourceName">]: never; }>(object: I): PointCloudRequest;
};
export declare const GetPointCloudRequest: {
encode(message: GetPointCloudRequest, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): GetPointCloudRequest;
fromJSON(object: any): GetPointCloudRequest;
toJSON(message: GetPointCloudRequest): unknown;
fromPartial<I extends {
header?: {
requestTimestamp?: Date | undefined;
clientName?: string | undefined;
disableRpcLogging?: boolean | undefined;
} | undefined;
pointCloudRequests?: {
pointCloudSourceName?: string | undefined;
}[] | undefined;
} & {
header?: ({
requestTimestamp?: Date | undefined;
clientName?: string | undefined;
disableRpcLogging?: boolean | undefined;
} & {
requestTimestamp?: Date | undefined;
clientName?: string | undefined;
disableRpcLogging?: boolean | undefined;
} & { [K in Exclude<keyof I["header"], keyof RequestHeader>]: never; }) | undefined;
pointCloudRequests?: ({
pointCloudSourceName?: string | undefined;
}[] & ({
pointCloudSourceName?: string | undefined;
} & {
pointCloudSourceName?: string | undefined;
} & { [K_1 in Exclude<keyof I["pointCloudRequests"][number], "pointCloudSourceName">]: never; })[] & { [K_2 in Exclude<keyof I["pointCloudRequests"], keyof {
pointCloudSourceName?: string | undefined;
}[]>]: never; }) | undefined;
} & { [K_3 in Exclude<keyof I, keyof GetPointCloudRequest>]: never; }>(object: I): GetPointCloudRequest;
};
export declare const PointCloudResponse: {
encode(message: PointCloudResponse, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): PointCloudResponse;
fromJSON(object: any): PointCloudResponse;
toJSON(message: PointCloudResponse): unknown;
fromPartial<I extends {
status?: PointCloudResponse_Status | 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?: 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;
} & {
status?: PointCloudResponse_Status | 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?: 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;
} & {
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;
} & {
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;
} & {
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;
} & {
[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;
} & {
parentFrameName?: string | undefined;
parentTformChild?: ({
position?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;