spot-sdk-ts
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TypeScript bindings based on protobufs (proto3) provided by Boston Dynamics
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TypeScript
import { SE3Pose } from "./geometry";
import _m0 from "protobufjs/minimal";
export declare const protobufPackage = "bosdyn.api";
export interface StairTransform {
/** The staircase origin is the bottom-center of the first rise. */
frameTformStairs: SE3Pose | undefined;
frameName: string;
}
export interface StraightStaircase {
/**
* It is expressed in ko frame of the from_waypoint.
* This field is only used in GraphNav.
*/
fromKoTformStairs: SE3Pose | undefined;
/** Outside GraphNav, this field specifies the stair origin. */
tform: StairTransform | undefined;
/** Each stair should be rise followed by run. The last stair will have zero run. */
stairs: StraightStaircase_Stair[];
/**
* The lowermost landing of the stairs. The robot will try to
* align itself to the stairs while on this landing.
*/
bottomLanding: StraightStaircase_Landing | undefined;
/** The uppermost landing of the stairs. */
topLanding: StraightStaircase_Landing | undefined;
}
/** A single stair from a staircase. */
export interface StraightStaircase_Stair {
/** Height of each stair. */
rise: number;
/** Depth of each stair. */
run: number;
}
/**
* Straight staircases have two landings, one at the top and one at the bottom.
* Landings are areas of free space before and after the stairs, and are represented
* as oriented bounding boxes.
*/
export interface StraightStaircase_Landing {
/** Pose of the landing's center relative to the stairs frame. */
stairsTformLandingCenter: SE3Pose | undefined;
/** The half-size of the box representing the landing in the x axis. */
landingExtentX: number;
/** The half-size of the box representing the landing in the y axis. */
landingExtentY: number;
}
export declare const StairTransform: {
encode(message: StairTransform, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): StairTransform;
fromJSON(object: any): StairTransform;
toJSON(message: StairTransform): unknown;
fromPartial<I extends {
frameTformStairs?: {
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;
frameName?: string | undefined;
} & {
frameTformStairs?: ({
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["frameTformStairs"]["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["frameTformStairs"]["rotation"], keyof import("./geometry").Quaternion>]: never; }) | undefined;
} & { [K_2 in Exclude<keyof I["frameTformStairs"], keyof SE3Pose>]: never; }) | undefined;
frameName?: string | undefined;
} & { [K_3 in Exclude<keyof I, keyof StairTransform>]: never; }>(object: I): StairTransform;
};
export declare const StraightStaircase: {
encode(message: StraightStaircase, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): StraightStaircase;
fromJSON(object: any): StraightStaircase;
toJSON(message: StraightStaircase): unknown;
fromPartial<I extends {
fromKoTformStairs?: {
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;
tform?: {
frameTformStairs?: {
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;
frameName?: string | undefined;
} | undefined;
stairs?: {
rise?: number | undefined;
run?: number | undefined;
}[] | undefined;
bottomLanding?: {
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} | undefined;
topLanding?: {
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} | undefined;
} & {
fromKoTformStairs?: ({
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["fromKoTformStairs"]["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["fromKoTformStairs"]["rotation"], keyof import("./geometry").Quaternion>]: never; }) | undefined;
} & { [K_2 in Exclude<keyof I["fromKoTformStairs"], keyof SE3Pose>]: never; }) | undefined;
tform?: ({
frameTformStairs?: {
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;
frameName?: string | undefined;
} & {
frameTformStairs?: ({
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["tform"]["frameTformStairs"]["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["tform"]["frameTformStairs"]["rotation"], keyof import("./geometry").Quaternion>]: never; }) | undefined;
} & { [K_5 in Exclude<keyof I["tform"]["frameTformStairs"], keyof SE3Pose>]: never; }) | undefined;
frameName?: string | undefined;
} & { [K_6 in Exclude<keyof I["tform"], keyof StairTransform>]: never; }) | undefined;
stairs?: ({
rise?: number | undefined;
run?: number | undefined;
}[] & ({
rise?: number | undefined;
run?: number | undefined;
} & {
rise?: number | undefined;
run?: number | undefined;
} & { [K_7 in Exclude<keyof I["stairs"][number], keyof StraightStaircase_Stair>]: never; })[] & { [K_8 in Exclude<keyof I["stairs"], keyof {
rise?: number | undefined;
run?: number | undefined;
}[]>]: never; }) | undefined;
bottomLanding?: ({
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} & {
stairsTformLandingCenter?: ({
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_9 in Exclude<keyof I["bottomLanding"]["stairsTformLandingCenter"]["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_10 in Exclude<keyof I["bottomLanding"]["stairsTformLandingCenter"]["rotation"], keyof import("./geometry").Quaternion>]: never; }) | undefined;
} & { [K_11 in Exclude<keyof I["bottomLanding"]["stairsTformLandingCenter"], keyof SE3Pose>]: never; }) | undefined;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} & { [K_12 in Exclude<keyof I["bottomLanding"], keyof StraightStaircase_Landing>]: never; }) | undefined;
topLanding?: ({
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} & {
stairsTformLandingCenter?: ({
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_13 in Exclude<keyof I["topLanding"]["stairsTformLandingCenter"]["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_14 in Exclude<keyof I["topLanding"]["stairsTformLandingCenter"]["rotation"], keyof import("./geometry").Quaternion>]: never; }) | undefined;
} & { [K_15 in Exclude<keyof I["topLanding"]["stairsTformLandingCenter"], keyof SE3Pose>]: never; }) | undefined;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} & { [K_16 in Exclude<keyof I["topLanding"], keyof StraightStaircase_Landing>]: never; }) | undefined;
} & { [K_17 in Exclude<keyof I, keyof StraightStaircase>]: never; }>(object: I): StraightStaircase;
};
export declare const StraightStaircase_Stair: {
encode(message: StraightStaircase_Stair, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): StraightStaircase_Stair;
fromJSON(object: any): StraightStaircase_Stair;
toJSON(message: StraightStaircase_Stair): unknown;
fromPartial<I extends {
rise?: number | undefined;
run?: number | undefined;
} & {
rise?: number | undefined;
run?: number | undefined;
} & { [K in Exclude<keyof I, keyof StraightStaircase_Stair>]: never; }>(object: I): StraightStaircase_Stair;
};
export declare const StraightStaircase_Landing: {
encode(message: StraightStaircase_Landing, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): StraightStaircase_Landing;
fromJSON(object: any): StraightStaircase_Landing;
toJSON(message: StraightStaircase_Landing): unknown;
fromPartial<I extends {
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} & {
stairsTformLandingCenter?: ({
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["stairsTformLandingCenter"]["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["stairsTformLandingCenter"]["rotation"], keyof import("./geometry").Quaternion>]: never; }) | undefined;
} & { [K_2 in Exclude<keyof I["stairsTformLandingCenter"], keyof SE3Pose>]: never; }) | undefined;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} & { [K_3 in Exclude<keyof I, keyof StraightStaircase_Landing>]: never; }>(object: I): StraightStaircase_Landing;
};
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=stairs.d.ts.map