spot-sdk-ts
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TypeScript bindings based on protobufs (proto3) provided by Boston Dynamics
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TypeScript
import { SE2Pose, SE3Pose, SE3Velocity, Vec3, Wrench } from "./geometry";
import { Duration } from "../../google/protobuf/duration";
import _m0 from "protobufjs/minimal";
export declare const protobufPackage = "bosdyn.api";
/** Parameters for how positional trajectories will be interpolated on robot. */
export declare enum PositionalInterpolation {
/** POS_INTERP_UNKNOWN - Unknown interpolation, do not use. */
POS_INTERP_UNKNOWN = 0,
/** POS_INTERP_LINEAR - Linear interpolation for positional data. */
POS_INTERP_LINEAR = 1,
/** POS_INTERP_CUBIC - Cubic interpolation for positional data. */
POS_INTERP_CUBIC = 2,
UNRECOGNIZED = -1
}
export declare function positionalInterpolationFromJSON(object: any): PositionalInterpolation;
export declare function positionalInterpolationToJSON(object: PositionalInterpolation): string;
/** Parameters for how angular trajectories will be interpolated on robot. */
export declare enum AngularInterpolation {
/** ANG_INTERP_UNKNOWN - Unknown interpolation, do not use. */
ANG_INTERP_UNKNOWN = 0,
/** ANG_INTERP_LINEAR - Linear interpolation for angular data. */
ANG_INTERP_LINEAR = 1,
/** ANG_INTERP_CUBIC_EULER - Cubic interpolation (using Euler method) for angular data. */
ANG_INTERP_CUBIC_EULER = 2,
UNRECOGNIZED = -1
}
export declare function angularInterpolationFromJSON(object: any): AngularInterpolation;
export declare function angularInterpolationToJSON(object: AngularInterpolation): string;
/**
* A 2D pose trajectory, which specified multiple points and the desired times the robot should
* reach these points.
*/
export interface SE2Trajectory {
/** The points in trajectory */
points: SE2TrajectoryPoint[];
/**
* All trajectories specify times relative to this reference time. The reference time should be
* in robot clock. If this field is not included, this time will be the receive time of the
* command.
*/
referenceTime: Date | undefined;
/** Parameters for how trajectories will be interpolated on robot. */
interpolation: PositionalInterpolation;
}
/** A SE2 pose that can be used as a point within a trajectory. */
export interface SE2TrajectoryPoint {
/** Required pose the robot will try and achieve. */
pose: SE2Pose | undefined;
/** The duration to reach the point relative to the trajectory reference time. */
timeSinceReference: Duration | undefined;
}
/**
* A 3D pose trajectory, which specified multiple poses (and velocities for each pose)
* and the desired times the robot should reach these points.
*/
export interface SE3Trajectory {
/** The points in trajectory */
points: SE3TrajectoryPoint[];
/**
* All trajectories specify times relative to this reference time. The reference time should be
* in robot clock. If this field is not included, this time will be the receive time of the
* command.
*/
referenceTime: Date | undefined;
/** Parameters for how trajectories will be interpolated on robot. */
posInterpolation: PositionalInterpolation;
angInterpolation: AngularInterpolation;
}
/** A SE3 pose and velocity that can be used as a point within a trajectory. */
export interface SE3TrajectoryPoint {
/** Required pose the robot will try and achieve. */
pose: SE3Pose | undefined;
/** Optional velocity (linear and angular) the robot will try and achieve. */
velocity: SE3Velocity | undefined;
/** The duration to reach the point relative to the trajectory reference time. */
timeSinceReference: Duration | undefined;
}
/**
* A 3D point trajectory, described by 3D points, a starting and ending velocity, and
* a reference time.
*/
export interface Vec3Trajectory {
/** The points in trajectory. */
points: Vec3TrajectoryPoint[];
/**
* All trajectories specify times relative to this reference time. The reference time should be
* in robot clock. If this field is not included, this time will be the receive time of the
* command.
*/
referenceTime: Date | undefined;
/** Parameters for how trajectories will be interpolated on robot. */
posInterpolation: PositionalInterpolation;
/** Velocity at the starting point of the trajectory. */
startingVelocity: Vec3 | undefined;
/** Velocity at the ending point of the trajectory. */
endingVelocity: Vec3 | undefined;
}
/** A 3D point (and linear velocity) that can be used as a point within a trajectory. */
export interface Vec3TrajectoryPoint {
/** The point 3D position. */
point: Vec3 | undefined;
/**
* These are all optional. If nothing is specified, good defaults will be chosen
* server-side.
*/
linearSpeed: number;
/** The duration to reach the point relative to the trajectory reference time. */
timeSinceReference: Duration | undefined;
}
/** A time-based trajectories of wrenches. */
export interface WrenchTrajectory {
/** The wrenches in the trajectory */
points: WrenchTrajectoryPoint[];
/**
* All trajectories specify times relative to this reference time. The reference time should be
* in robot clock. If this field is not included, this time will be the receive time of the
* command.
*/
referenceTime: Date | undefined;
}
export interface WrenchTrajectoryPoint {
/** The wrench to apply at this point in time. */
wrench: Wrench | undefined;
/** The duration to reach the point relative to the trajectory reference time. */
timeSinceReference: Duration | undefined;
}
/** A Point trajectory. */
export interface ScalarTrajectory {
/** The points in trajectory */
points: ScalarTrajectoryPoint[];
/**
* All trajectories specify times relative to this reference time. The reference time should be
* in robot clock. If this field is not included, this time will be the receive time of the
* command.
*/
referenceTime: Date | undefined;
/**
* Parameters for how trajectories will be interpolated on robot.
* (Note: ignored for ClawGripperCommand.Request, which will automatically
* select between cubic interpolation or a minimum time trajectory)
*/
interpolation: PositionalInterpolation;
}
export interface ScalarTrajectoryPoint {
/** Required position at the trajectory point's reference time. */
point: number;
/** Optional speed at the trajectory point's reference time. */
velocity: number | undefined;
/** The duration to reach the point relative to the trajectory reference time. */
timeSinceReference: Duration | undefined;
}
export declare const SE2Trajectory: {
encode(message: SE2Trajectory, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): SE2Trajectory;
fromJSON(object: any): SE2Trajectory;
toJSON(message: SE2Trajectory): unknown;
fromPartial<I extends {
points?: {
pose?: {
position?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angle?: number | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] | undefined;
referenceTime?: Date | undefined;
interpolation?: PositionalInterpolation | undefined;
} & {
points?: ({
pose?: {
position?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angle?: number | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] & ({
pose?: {
position?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angle?: number | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
} & {
pose?: ({
position?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angle?: number | undefined;
} & {
position?: ({
x?: number | undefined;
y?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
} & { [K in Exclude<keyof I["points"][number]["pose"]["position"], keyof import("./geometry").Vec2>]: never; }) | undefined;
angle?: number | undefined;
} & { [K_1 in Exclude<keyof I["points"][number]["pose"], keyof SE2Pose>]: never; }) | undefined;
timeSinceReference?: ({
seconds?: number | undefined;
nanos?: number | undefined;
} & {
seconds?: number | undefined;
nanos?: number | undefined;
} & { [K_2 in Exclude<keyof I["points"][number]["timeSinceReference"], keyof Duration>]: never; }) | undefined;
} & { [K_3 in Exclude<keyof I["points"][number], keyof SE2TrajectoryPoint>]: never; })[] & { [K_4 in Exclude<keyof I["points"], keyof {
pose?: {
position?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angle?: number | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[]>]: never; }) | undefined;
referenceTime?: Date | undefined;
interpolation?: PositionalInterpolation | undefined;
} & { [K_5 in Exclude<keyof I, keyof SE2Trajectory>]: never; }>(object: I): SE2Trajectory;
};
export declare const SE2TrajectoryPoint: {
encode(message: SE2TrajectoryPoint, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): SE2TrajectoryPoint;
fromJSON(object: any): SE2TrajectoryPoint;
toJSON(message: SE2TrajectoryPoint): unknown;
fromPartial<I extends {
pose?: {
position?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angle?: number | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
} & {
pose?: ({
position?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angle?: number | undefined;
} & {
position?: ({
x?: number | undefined;
y?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
} & { [K in Exclude<keyof I["pose"]["position"], keyof import("./geometry").Vec2>]: never; }) | undefined;
angle?: number | undefined;
} & { [K_1 in Exclude<keyof I["pose"], keyof SE2Pose>]: never; }) | undefined;
timeSinceReference?: ({
seconds?: number | undefined;
nanos?: number | undefined;
} & {
seconds?: number | undefined;
nanos?: number | undefined;
} & { [K_2 in Exclude<keyof I["timeSinceReference"], keyof Duration>]: never; }) | undefined;
} & { [K_3 in Exclude<keyof I, keyof SE2TrajectoryPoint>]: never; }>(object: I): SE2TrajectoryPoint;
};
export declare const SE3Trajectory: {
encode(message: SE3Trajectory, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): SE3Trajectory;
fromJSON(object: any): SE3Trajectory;
toJSON(message: SE3Trajectory): unknown;
fromPartial<I extends {
points?: {
pose?: {
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;
velocity?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] | undefined;
referenceTime?: Date | undefined;
posInterpolation?: PositionalInterpolation | undefined;
angInterpolation?: AngularInterpolation | undefined;
} & {
points?: ({
pose?: {
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;
velocity?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] & ({
pose?: {
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;
velocity?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
} & {
pose?: ({
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["points"][number]["pose"]["position"], keyof 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["points"][number]["pose"]["rotation"], keyof import("./geometry").Quaternion>]: never; }) | undefined;
} & { [K_2 in Exclude<keyof I["points"][number]["pose"], keyof SE3Pose>]: never; }) | undefined;
velocity?: ({
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} & {
linear?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & { [K_3 in Exclude<keyof I["points"][number]["velocity"]["linear"], keyof Vec3>]: never; }) | undefined;
angular?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & { [K_4 in Exclude<keyof I["points"][number]["velocity"]["angular"], keyof Vec3>]: never; }) | undefined;
} & { [K_5 in Exclude<keyof I["points"][number]["velocity"], keyof SE3Velocity>]: never; }) | undefined;
timeSinceReference?: ({
seconds?: number | undefined;
nanos?: number | undefined;
} & {
seconds?: number | undefined;
nanos?: number | undefined;
} & { [K_6 in Exclude<keyof I["points"][number]["timeSinceReference"], keyof Duration>]: never; }) | undefined;
} & { [K_7 in Exclude<keyof I["points"][number], keyof SE3TrajectoryPoint>]: never; })[] & { [K_8 in Exclude<keyof I["points"], keyof {
pose?: {
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;
velocity?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[]>]: never; }) | undefined;
referenceTime?: Date | undefined;
posInterpolation?: PositionalInterpolation | undefined;
angInterpolation?: AngularInterpolation | undefined;
} & { [K_9 in Exclude<keyof I, keyof SE3Trajectory>]: never; }>(object: I): SE3Trajectory;
};
export declare const SE3TrajectoryPoint: {
encode(message: SE3TrajectoryPoint, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): SE3TrajectoryPoint;
fromJSON(object: any): SE3TrajectoryPoint;
toJSON(message: SE3TrajectoryPoint): unknown;
fromPartial<I extends {
pose?: {
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;
velocity?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
} & {
pose?: ({
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["pose"]["position"], keyof 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["pose"]["rotation"], keyof import("./geometry").Quaternion>]: never; }) | undefined;
} & { [K_2 in Exclude<keyof I["pose"], keyof SE3Pose>]: never; }) | undefined;
velocity?: ({
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} & {
linear?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & { [K_3 in Exclude<keyof I["velocity"]["linear"], keyof Vec3>]: never; }) | undefined;
angular?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & { [K_4 in Exclude<keyof I["velocity"]["angular"], keyof Vec3>]: never; }) | undefined;
} & { [K_5 in Exclude<keyof I["velocity"], keyof SE3Velocity>]: never; }) | undefined;
timeSinceReference?: ({
seconds?: number | undefined;
nanos?: number | undefined;
} & {
seconds?: number | undefined;
nanos?: number | undefined;
} & { [K_6 in Exclude<keyof I["timeSinceReference"], keyof Duration>]: never; }) | undefined;
} & { [K_7 in Exclude<keyof I, keyof SE3TrajectoryPoint>]: never; }>(object: I): SE3TrajectoryPoint;
};
export declare const Vec3Trajectory: {
encode(message: Vec3Trajectory, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): Vec3Trajectory;
fromJSON(object: any): Vec3Trajectory;
toJSON(message: Vec3Trajectory): unknown;
fromPartial<I extends {
points?: {
point?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
linearSpeed?: number | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] | undefined;
referenceTime?: Date | undefined;
posInterpolation?: PositionalInterpolation | undefined;
startingVelocity?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
endingVelocity?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} & {
points?: ({
point?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
linearSpeed?: number | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] & ({
point?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
linearSpeed?: number | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
} & {
point?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & { [K in Exclude<keyof I["points"][number]["point"], keyof Vec3>]: never; }) | undefined;
linearSpeed?: number | undefined;
timeSinceReference?: ({
seconds?: number | undefined;
nanos?: number | undefined;
} & {
seconds?: number | undefined;
nanos?: number | undefined;
} & { [K_1 in Exclude<keyof I["points"][number]["timeSinceReference"], keyof Duration>]: never; }) | undefined;
} & { [K_2 in Exclude<keyof I["points"][number], keyof Vec3TrajectoryPoint>]: never; })[] & { [K_3 in Exclude<keyof I["points"], keyof {
point?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
linearSpeed?: number | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[]>]: never; }) | undefined;
referenceTime?: Date | undefined;
posInterpolation?: PositionalInterpolation | undefined;
startingVelocity?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & { [K_4 in Exclude<keyof I["startingVelocity"], keyof Vec3>]: never; }) | undefined;
endingVelocity?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & { [K_5 in Exclude<keyof I["endingVelocity"], keyof Vec3>]: never; }) | undefined;
} & { [K_6 in Exclude<keyof I, keyof Vec3Trajectory>]: never; }>(object: I): Vec3Trajectory;
};
export declare const Vec3TrajectoryPoint: {
encode(message: Vec3TrajectoryPoint, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): Vec3TrajectoryPoint;
fromJSON(object: any): Vec3TrajectoryPoint;
toJSON(message: Vec3TrajectoryPoint): unknown;
fromPartial<I extends {
point?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
linearSpeed?: number | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
} & {
point?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & { [K in Exclude<keyof I["point"], keyof Vec3>]: never; }) | undefined;
linearSpeed?: number | undefined;
timeSinceReference?: ({
seconds?: number | undefined;
nanos?: number | undefined;
} & {
seconds?: number | undefined;
nanos?: number | undefined;
} & { [K_1 in Exclude<keyof I["timeSinceReference"], keyof Duration>]: never; }) | undefined;
} & { [K_2 in Exclude<keyof I, keyof Vec3TrajectoryPoint>]: never; }>(object: I): Vec3TrajectoryPoint;
};
export declare const WrenchTrajectory: {
encode(message: WrenchTrajectory, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): WrenchTrajectory;
fromJSON(object: any): WrenchTrajectory;
toJSON(message: WrenchTrajectory): unknown;
fromPartial<I extends {
points?: {
wrench?: {
force?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
torque?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] | undefined;
referenceTime?: Date | undefined;
} & {
points?: ({
wrench?: {
force?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
torque?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] & ({
wrench?: {
force?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
torque?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
} & {
wrench?: ({
force?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
torque?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} & {
force?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & { [K in Exclude<keyof I["points"][number]["wrench"]["force"], keyof Vec3>]: never; }) | undefined;
torque?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & { [K_1 in Exclude<keyof I["points"][number]["wrench"]["torque"], keyof Vec3>]: never; }) | undefined;
} & { [K_2 in Exclude<keyof I["points"][number]["wrench"], keyof Wrench>]: never; }) | undefined;
timeSinceReference?: ({
seconds?: number | undefined;
nanos?: number | undefined;
} & {
seconds?: number | undefined;
nanos?: number | undefined;
} & { [K_3 in Exclude<keyof I["points"][number]["timeSinceReference"], keyof Duration>]: never; }) | undefined;
} & { [K_4 in Exclude<keyof I["points"][number], keyof WrenchTrajectoryPoint>]: never; })[] & { [K_5 in Exclude<keyof I["points"], keyof {
wrench?: {
force?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
torque?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[]>]: never; }) | undefined;
referenceTime?: Date | undefined;
} & { [K_6 in Exclude<keyof I, keyof WrenchTrajectory>]: never; }>(object: I): WrenchTrajectory;
};
export declare const WrenchTrajectoryPoint: {
encode(message: WrenchTrajectoryPoint, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): WrenchTrajectoryPoint;
fromJSON(object: any): WrenchTrajectoryPoint;
toJSON(message: WrenchTrajectoryPoint): unknown;
fromPartial<I extends {
wrench?: {
force?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
torque?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
} & {
wrench?: ({
force?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
torque?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} & {
force?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & { [K in Exclude<keyof I["wrench"]["force"], keyof Vec3>]: never; }) | undefined;
torque?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & { [K_1 in Exclude<keyof I["wrench"]["torque"], keyof Vec3>]: never; }) | undefined;
} & { [K_2 in Exclude<keyof I["wrench"], keyof Wrench>]: never; }) | undefined;
timeSinceReference?: ({
seconds?: number | undefined;
nanos?: number | undefined;
} & {
seconds?: number | undefined;
nanos?: number | undefined;
} & { [K_3 in Exclude<keyof I["timeSinceReference"], keyof Duration>]: never; }) | undefined;
} & { [K_4 in Exclude<keyof I, keyof WrenchTrajectoryPoint>]: never; }>(object: I): WrenchTrajectoryPoint;
};
export declare const ScalarTrajectory: {
encode(message: ScalarTrajectory, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): ScalarTrajectory;
fromJSON(object: any): ScalarTrajectory;
toJSON(message: ScalarTrajectory): unknown;
fromPartial<I extends {
points?: {
point?: number | undefined;
velocity?: number | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] | undefined;
referenceTime?: Date | undefined;
interpolation?: PositionalInterpolation | undefined;
} & {
points?: ({
point?: number | undefined;
velocity?: number | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] & ({
point?: number | undefined;
velocity?: number | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
} & {
point?: number | undefined;
velocity?: number | undefined;
timeSinceReference?: ({
seconds?: number | undefined;
nanos?: number | undefined;
} & {
seconds?: number | undefined;
nanos?: number | undefined;
} & { [K in Exclude<keyof I["points"][number]["timeSinceReference"], keyof Duration>]: never; }) | undefined;
} & { [K_1 in Exclude<keyof I["points"][number], keyof ScalarTrajectoryPoint>]: never; })[] & { [K_2 in Exclude<keyof I["points"], keyof {
point?: number | undefined;
velocity?: number | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[]>]: never; }) | undefined;
referenceTime?: Date | undefined;
interpolation?: PositionalInterpolation | undefined;
} & { [K_3 in Exclude<keyof I, keyof ScalarTrajectory>]: never; }>(object: I): ScalarTrajectory;
};
export declare const ScalarTrajectoryPoint: {
encode(message: ScalarTrajectoryPoint, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): ScalarTrajectoryPoint;
fromJSON(object: any): ScalarTrajectoryPoint;
toJSON(message: ScalarTrajectoryPoint): unknown;
fromPartial<I extends {
point?: number | undefined;
velocity?: number | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
} & {
point?: number | undefined;
velocity?: number | undefined;
timeSinceReference?: ({
seconds?: number | undefined;
nanos?: number | undefined;
} & {
seconds?: number | undefined;
nanos?: number | undefined;
} & { [K in Exclude<keyof I["timeSinceReference"], keyof Duration>]: never; }) | undefined;
} & { [K_1 in Exclude<keyof I, keyof ScalarTrajectoryPoint>]: never; }>(object: I): ScalarTrajectoryPoint;
};
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=trajectory.d.ts.map