spot-sdk-ts
Version:
TypeScript bindings based on protobufs (proto3) provided by Boston Dynamics
332 lines • 13.3 kB
JavaScript
;
var __importDefault = (this && this.__importDefault) || function (mod) {
return (mod && mod.__esModule) ? mod : { "default": mod };
};
Object.defineProperty(exports, "__esModule", { value: true });
exports.StraightStaircase_Landing = exports.StraightStaircase_Stair = exports.StraightStaircase = exports.StairTransform = exports.protobufPackage = void 0;
/* eslint-disable */
const geometry_1 = require("./geometry");
const minimal_1 = __importDefault(require("protobufjs/minimal"));
exports.protobufPackage = "bosdyn.api";
function createBaseStairTransform() {
return { frameTformStairs: undefined, frameName: "" };
}
exports.StairTransform = {
encode(message, writer = minimal_1.default.Writer.create()) {
if (message.frameTformStairs !== undefined) {
geometry_1.SE3Pose.encode(message.frameTformStairs, writer.uint32(10).fork()).ldelim();
}
if (message.frameName !== "") {
writer.uint32(18).string(message.frameName);
}
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 = createBaseStairTransform();
while (reader.pos < end) {
const tag = reader.uint32();
switch (tag >>> 3) {
case 1:
message.frameTformStairs = geometry_1.SE3Pose.decode(reader, reader.uint32());
break;
case 2:
message.frameName = reader.string();
break;
default:
reader.skipType(tag & 7);
break;
}
}
return message;
},
fromJSON(object) {
return {
frameTformStairs: isSet(object.frameTformStairs)
? geometry_1.SE3Pose.fromJSON(object.frameTformStairs)
: undefined,
frameName: isSet(object.frameName) ? String(object.frameName) : "",
};
},
toJSON(message) {
const obj = {};
message.frameTformStairs !== undefined &&
(obj.frameTformStairs = message.frameTformStairs
? geometry_1.SE3Pose.toJSON(message.frameTformStairs)
: undefined);
message.frameName !== undefined && (obj.frameName = message.frameName);
return obj;
},
fromPartial(object) {
const message = createBaseStairTransform();
message.frameTformStairs =
object.frameTformStairs !== undefined && object.frameTformStairs !== null
? geometry_1.SE3Pose.fromPartial(object.frameTformStairs)
: undefined;
message.frameName = object.frameName ?? "";
return message;
},
};
function createBaseStraightStaircase() {
return {
fromKoTformStairs: undefined,
tform: undefined,
stairs: [],
bottomLanding: undefined,
topLanding: undefined,
};
}
exports.StraightStaircase = {
encode(message, writer = minimal_1.default.Writer.create()) {
if (message.fromKoTformStairs !== undefined) {
geometry_1.SE3Pose.encode(message.fromKoTformStairs, writer.uint32(10).fork()).ldelim();
}
if (message.tform !== undefined) {
exports.StairTransform.encode(message.tform, writer.uint32(42).fork()).ldelim();
}
for (const v of message.stairs) {
exports.StraightStaircase_Stair.encode(v, writer.uint32(18).fork()).ldelim();
}
if (message.bottomLanding !== undefined) {
exports.StraightStaircase_Landing.encode(message.bottomLanding, writer.uint32(26).fork()).ldelim();
}
if (message.topLanding !== undefined) {
exports.StraightStaircase_Landing.encode(message.topLanding, writer.uint32(34).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 = createBaseStraightStaircase();
while (reader.pos < end) {
const tag = reader.uint32();
switch (tag >>> 3) {
case 1:
message.fromKoTformStairs = geometry_1.SE3Pose.decode(reader, reader.uint32());
break;
case 5:
message.tform = exports.StairTransform.decode(reader, reader.uint32());
break;
case 2:
message.stairs.push(exports.StraightStaircase_Stair.decode(reader, reader.uint32()));
break;
case 3:
message.bottomLanding = exports.StraightStaircase_Landing.decode(reader, reader.uint32());
break;
case 4:
message.topLanding = exports.StraightStaircase_Landing.decode(reader, reader.uint32());
break;
default:
reader.skipType(tag & 7);
break;
}
}
return message;
},
fromJSON(object) {
return {
fromKoTformStairs: isSet(object.fromKoTformStairs)
? geometry_1.SE3Pose.fromJSON(object.fromKoTformStairs)
: undefined,
tform: isSet(object.tform)
? exports.StairTransform.fromJSON(object.tform)
: undefined,
stairs: Array.isArray(object?.stairs)
? object.stairs.map((e) => exports.StraightStaircase_Stair.fromJSON(e))
: [],
bottomLanding: isSet(object.bottomLanding)
? exports.StraightStaircase_Landing.fromJSON(object.bottomLanding)
: undefined,
topLanding: isSet(object.topLanding)
? exports.StraightStaircase_Landing.fromJSON(object.topLanding)
: undefined,
};
},
toJSON(message) {
const obj = {};
message.fromKoTformStairs !== undefined &&
(obj.fromKoTformStairs = message.fromKoTformStairs
? geometry_1.SE3Pose.toJSON(message.fromKoTformStairs)
: undefined);
message.tform !== undefined &&
(obj.tform = message.tform
? exports.StairTransform.toJSON(message.tform)
: undefined);
if (message.stairs) {
obj.stairs = message.stairs.map((e) => e ? exports.StraightStaircase_Stair.toJSON(e) : undefined);
}
else {
obj.stairs = [];
}
message.bottomLanding !== undefined &&
(obj.bottomLanding = message.bottomLanding
? exports.StraightStaircase_Landing.toJSON(message.bottomLanding)
: undefined);
message.topLanding !== undefined &&
(obj.topLanding = message.topLanding
? exports.StraightStaircase_Landing.toJSON(message.topLanding)
: undefined);
return obj;
},
fromPartial(object) {
const message = createBaseStraightStaircase();
message.fromKoTformStairs =
object.fromKoTformStairs !== undefined &&
object.fromKoTformStairs !== null
? geometry_1.SE3Pose.fromPartial(object.fromKoTformStairs)
: undefined;
message.tform =
object.tform !== undefined && object.tform !== null
? exports.StairTransform.fromPartial(object.tform)
: undefined;
message.stairs =
object.stairs?.map((e) => exports.StraightStaircase_Stair.fromPartial(e)) || [];
message.bottomLanding =
object.bottomLanding !== undefined && object.bottomLanding !== null
? exports.StraightStaircase_Landing.fromPartial(object.bottomLanding)
: undefined;
message.topLanding =
object.topLanding !== undefined && object.topLanding !== null
? exports.StraightStaircase_Landing.fromPartial(object.topLanding)
: undefined;
return message;
},
};
function createBaseStraightStaircase_Stair() {
return { rise: 0, run: 0 };
}
exports.StraightStaircase_Stair = {
encode(message, writer = minimal_1.default.Writer.create()) {
if (message.rise !== 0) {
writer.uint32(13).float(message.rise);
}
if (message.run !== 0) {
writer.uint32(21).float(message.run);
}
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 = createBaseStraightStaircase_Stair();
while (reader.pos < end) {
const tag = reader.uint32();
switch (tag >>> 3) {
case 1:
message.rise = reader.float();
break;
case 2:
message.run = reader.float();
break;
default:
reader.skipType(tag & 7);
break;
}
}
return message;
},
fromJSON(object) {
return {
rise: isSet(object.rise) ? Number(object.rise) : 0,
run: isSet(object.run) ? Number(object.run) : 0,
};
},
toJSON(message) {
const obj = {};
message.rise !== undefined && (obj.rise = message.rise);
message.run !== undefined && (obj.run = message.run);
return obj;
},
fromPartial(object) {
const message = createBaseStraightStaircase_Stair();
message.rise = object.rise ?? 0;
message.run = object.run ?? 0;
return message;
},
};
function createBaseStraightStaircase_Landing() {
return {
stairsTformLandingCenter: undefined,
landingExtentX: 0,
landingExtentY: 0,
};
}
exports.StraightStaircase_Landing = {
encode(message, writer = minimal_1.default.Writer.create()) {
if (message.stairsTformLandingCenter !== undefined) {
geometry_1.SE3Pose.encode(message.stairsTformLandingCenter, writer.uint32(10).fork()).ldelim();
}
if (message.landingExtentX !== 0) {
writer.uint32(17).double(message.landingExtentX);
}
if (message.landingExtentY !== 0) {
writer.uint32(25).double(message.landingExtentY);
}
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 = createBaseStraightStaircase_Landing();
while (reader.pos < end) {
const tag = reader.uint32();
switch (tag >>> 3) {
case 1:
message.stairsTformLandingCenter = geometry_1.SE3Pose.decode(reader, reader.uint32());
break;
case 2:
message.landingExtentX = reader.double();
break;
case 3:
message.landingExtentY = reader.double();
break;
default:
reader.skipType(tag & 7);
break;
}
}
return message;
},
fromJSON(object) {
return {
stairsTformLandingCenter: isSet(object.stairsTformLandingCenter)
? geometry_1.SE3Pose.fromJSON(object.stairsTformLandingCenter)
: undefined,
landingExtentX: isSet(object.landingExtentX)
? Number(object.landingExtentX)
: 0,
landingExtentY: isSet(object.landingExtentY)
? Number(object.landingExtentY)
: 0,
};
},
toJSON(message) {
const obj = {};
message.stairsTformLandingCenter !== undefined &&
(obj.stairsTformLandingCenter = message.stairsTformLandingCenter
? geometry_1.SE3Pose.toJSON(message.stairsTformLandingCenter)
: undefined);
message.landingExtentX !== undefined &&
(obj.landingExtentX = message.landingExtentX);
message.landingExtentY !== undefined &&
(obj.landingExtentY = message.landingExtentY);
return obj;
},
fromPartial(object) {
const message = createBaseStraightStaircase_Landing();
message.stairsTformLandingCenter =
object.stairsTformLandingCenter !== undefined &&
object.stairsTformLandingCenter !== null
? geometry_1.SE3Pose.fromPartial(object.stairsTformLandingCenter)
: undefined;
message.landingExtentX = object.landingExtentX ?? 0;
message.landingExtentY = object.landingExtentY ?? 0;
return message;
},
};
function isSet(value) {
return value !== null && value !== undefined;
}
//# sourceMappingURL=stairs.js.map