:py:mod:`viam.components.movement_sensor` ========================================= .. py:module:: viam.components.movement_sensor Submodules ---------- .. toctree:: :titlesonly: :maxdepth: 1 client/index.rst movement_sensor/index.rst service/index.rst Package Contents ---------------- Classes ~~~~~~~ .. autoapisummary:: viam.components.movement_sensor.GeoPoint viam.components.movement_sensor.Orientation viam.components.movement_sensor.Vector3 viam.components.movement_sensor.MovementSensor .. py:class:: GeoPoint(*, latitude: float = ..., longitude: float = ...) Bases: :py:obj:`google.protobuf.message.Message` Abstract base class for protocol messages. Protocol message classes are almost always generated by the protocol compiler. These generated types subclass Message and implement the methods shown below. .. py:attribute:: latitude :type: float .. py:attribute:: longitude :type: float .. py:class:: Orientation(*, o_x: float = ..., o_y: float = ..., o_z: float = ..., theta: float = ...) Bases: :py:obj:`google.protobuf.message.Message` Abstract base class for protocol messages. Protocol message classes are almost always generated by the protocol compiler. These generated types subclass Message and implement the methods shown below. .. py:attribute:: o_x :type: float x component of a vector defining axis of rotation .. py:attribute:: o_y :type: float y component of a vector defining axis of rotation .. py:attribute:: o_z :type: float z component of a vector defining axis of rotation .. py:attribute:: theta :type: float degrees .. py:class:: Vector3(*, x: float = ..., y: float = ..., z: float = ...) Bases: :py:obj:`google.protobuf.message.Message` Abstract base class for protocol messages. Protocol message classes are almost always generated by the protocol compiler. These generated types subclass Message and implement the methods shown below. .. py:attribute:: x :type: float .. py:attribute:: y :type: float .. py:attribute:: z :type: float .. py:class:: MovementSensor(name: str) Bases: :py:obj:`viam.components.component_base.ComponentBase` MovementSensor reports information about the robot's direction, position and speed. This acts as an abstract base class for any sensors that can provide data regarding the robot's direction, position, and speed. This cannot be used on its own. If the ``__init__()`` function is overridden, it must call the ``super().__init__()`` function. :: from viam.components.movement_sensor import MovementSensor .. py:class:: Properties .. py:property:: proto :type: viam.proto.component.movementsensor.GetPropertiesResponse .. py:attribute:: linear_acceleration_supported :type: bool .. py:attribute:: angular_velocity_supported :type: bool .. py:attribute:: orientation_supported :type: bool .. py:attribute:: position_supported :type: bool .. py:attribute:: compass_heading_supported :type: bool .. py:attribute:: linear_velocity_supported :type: bool .. py:method:: from_proto(proto: viam.proto.component.movementsensor.GetPropertiesResponse) -> typing_extensions.Self :classmethod: .. py:attribute:: SUBTYPE :type: Final .. py:attribute:: Accuracy :type: TypeAlias .. py:method:: get_position(*, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs) -> Tuple[viam.components.movement_sensor.GeoPoint, float] :abstractmethod: :async: Get the current GeoPoint (latitude, longitude) and altitude (m) :: my_movement_sensor = MovementSensor.from_robot( robot=robot, name="my_movement_sensor") # Get the current position of the movement sensor. position = await my_movement_sensor.get_position() :returns: The current lat/long, along with the altitude in m :rtype: Tuple[GeoPoint, float] .. py:method:: get_linear_velocity(*, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs) -> viam.components.movement_sensor.Vector3 :abstractmethod: :async: Get the current linear velocity as a ``Vector3`` with x, y, and z axes represented in m/sec :: my_movement_sensor = MovementSensor.from_robot( robot=robot, name="my_movement_sensor") # Get the current linear velocity of the movement sensor. lin_vel = await my_movement_sensor.get_linear_velocity() :returns: The linear velocity in m/sec :rtype: Vector3 .. py:method:: get_angular_velocity(*, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs) -> viam.components.movement_sensor.Vector3 :abstractmethod: :async: Get the current angular velocity as a ``Vector3`` with x, y, and z axes represented in degrees/sec :: my_movement_sensor = MovementSensor.from_robot( robot=robot, name="my_movement_sensor") # Get the current angular velocity of the movement sensor. ang_vel = await my_movement_sensor.get_angular_velocity() # Get the y component of angular velocity. y_ang_vel = ang_vel.y :returns: The angular velocity in degrees/sec :rtype: Vector3 .. py:method:: get_linear_acceleration(*, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs) -> viam.components.movement_sensor.Vector3 :abstractmethod: :async: Get the current linear acceleration as a ``Vector3`` with x, y, and z axes represented in m/sec^2 :: my_movement_sensor = MovementSensor.from_robot( robot=robot, name="my_movement_sensor") # Get the current linear acceleration of the movement sensor. lin_accel = await my_movement_sensor.get_linear_acceleration() # Get the x component of linear acceleration. x_lin_accel = lin_accel.x :returns: The linear acceleration in m/sec^2 :rtype: Vector3 .. py:method:: get_compass_heading(*, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs) -> float :abstractmethod: :async: Get the current compass heading in degrees :: my_movement_sensor = MovementSensor.from_robot( robot=robot, name="my_movement_sensor") # Get the current compass heading of the movement sensor. heading = await my_movement_sensor.get_compass_heading() :returns: The compass heading in degrees :rtype: float .. py:method:: get_orientation(*, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs) -> viam.components.movement_sensor.Orientation :abstractmethod: :async: Get the current orientation :: my_movement_sensor = MovementSensor.from_robot( robot=robot, name="my_movement_sensor") # Get the current orientation vector of the movement sensor. orientation = await my_movement_sensor.get_orientation() :returns: The orientation :rtype: Orientation .. py:method:: get_properties(*, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs) -> Properties :abstractmethod: :async: Get the supported properties of this sensor :: my_movement_sensor = MovementSensor.from_robot( robot=robot, name="my_movement_sensor") # Get the supported properties of the movement sensor. properties = await my_movement_sensor.get_properties() :returns: The properties :rtype: MovementSensor.Properties .. py:method:: get_accuracy(*, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs) -> Accuracy :abstractmethod: :async: Get the accuracy of the various sensors :: my_movement_sensor = MovementSensor.from_robot( robot=robot, name="my_movement_sensor") # Get the accuracy of the movement sensor. accuracy = await my_movement_sensor.get_accuracy() :returns: The accuracies of the movement sensor :rtype: MovementSensor.Accuracy .. py:method:: get_readings(*, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs) -> Mapping[str, viam.utils.SensorReading] :async: Obtain the measurements/data specific to this sensor. If a sensor is not configured to have a measurement or fails to read a piece of data, it will not appear in the readings dictionary. :: my_movement_sensor = MovementSensor.from_robot( robot=robot, name="my_movement_sensor") # Get the latest readings from the movement sensor. readings = await my_movement_sensor.get_readings() :returns: The readings for the MovementSensor. Can be of any type. :rtype: Mapping[str, Any] .. py:method:: from_robot(robot: viam.robot.client.RobotClient, name: str) -> typing_extensions.Self :classmethod: Get the component named ``name`` from the provided robot. :param robot: The robot :type robot: RobotClient :param name: The name of the component :type name: str :returns: The component, if it exists on the robot :rtype: Self .. py:method:: do_command(command: Mapping[str, ValueTypes], *, timeout: Optional[float] = None, **kwargs) -> Mapping[str, ValueTypes] :abstractmethod: :async: Send/Receive arbitrary commands to the Resource :: command = {"cmd": "test", "data1": 500} result = component.do(command) :param command: The command to execute :type command: Mapping[str, ValueTypes] :raises NotImplementedError: Raised if the Resource does not support arbitrary commands :returns: Result of the executed command :rtype: Mapping[str, ValueTypes] .. py:method:: get_geometries(*, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None) -> List[viam.proto.common.Geometry] :async: Get all geometries associated with the Component, in their current configuration, in the frame of the Component. :: geometries = await component.get_geometries() if geometries: # Get the center of the first geometry print(f"Pose of the first geometry's centerpoint: {geometries[0].center}") :returns: The geometries associated with the Component. :rtype: List[Geometry] .. py:method:: get_resource_name(name: str) -> viam.proto.common.ResourceName :classmethod: Get the ResourceName for this Resource with the given name :: # Can be used with any resource, using an arm as an example my_arm_name = my_arm.get_resource_name("my_arm") :param name: The name of the Resource :type name: str :returns: The ResourceName of this Resource :rtype: ResourceName .. py:method:: get_operation(kwargs: Mapping[str, Any]) -> viam.operations.Operation Get the ``Operation`` associated with the currently running function. When writing custom resources, you should get the ``Operation`` by calling this function and check to see if it's cancelled. If the ``Operation`` is cancelled, then you can perform any necessary (terminating long running tasks, cleaning up connections, etc. ). :param kwargs: The kwargs object containing the operation :type kwargs: Mapping[str, Any] :returns: The operation associated with this function :rtype: viam.operations.Operation .. py:method:: close() :async: Safely shut down the resource and prevent further use. Close must be idempotent. Later configuration may allow a resource to be "open" again. If a resource does not want or need a close function, it is assumed that the resource does not need to return errors when future non-Close methods are called. :: await component.close()