viam.components.movement_sensor
Submodules
Classes
Abstract base class for protocol messages. |
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Abstract base class for protocol messages. |
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Abstract base class for protocol messages. |
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MovementSensor reports information about the robot's direction, position and speed. |
Package Contents
- class viam.components.movement_sensor.GeoPoint(*, latitude: float = ..., longitude: float = ...)
Bases:
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.
- latitude: float
- longitude: float
- class viam.components.movement_sensor.Orientation(*, o_x: float = ..., o_y: float = ..., o_z: float = ..., theta: float = ...)
Bases:
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.
- o_x: float
x component of a vector defining axis of rotation
- o_y: float
y component of a vector defining axis of rotation
- o_z: float
z component of a vector defining axis of rotation
- theta: float
degrees
- class viam.components.movement_sensor.Vector3(*, x: float = ..., y: float = ..., z: float = ...)
Bases:
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.
- x: float
- y: float
- z: float
- class viam.components.movement_sensor.MovementSensor(name: str)[source]
Bases:
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 thesuper().__init__()
function.from viam.components.movement_sensor import MovementSensor
For more information, see Movement Sensor component.
- SUBTYPE: Final
The Subtype of the Resource
- Accuracy: TypeAlias = GetAccuracyResponse
- class Properties[source]
- linear_acceleration_supported: bool
- angular_velocity_supported: bool
- orientation_supported: bool
- position_supported: bool
- compass_heading_supported: bool
- linear_velocity_supported: bool
- property proto: viam.proto.component.movementsensor.GetPropertiesResponse
- classmethod from_proto(proto: viam.proto.component.movementsensor.GetPropertiesResponse) typing_extensions.Self [source]
- abstract get_position(*, extra: Dict[str, Any] | None = None, timeout: float | None = None, **kwargs) Tuple[viam.components.movement_sensor.GeoPoint, float] [source]
- 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
- Return type:
Tuple[GeoPoint, float]
For more information, see Movement Sensor component.
- abstract get_linear_velocity(*, extra: Dict[str, Any] | None = None, timeout: float | None = None, **kwargs) viam.components.movement_sensor.Vector3 [source]
- Async:
Get the current linear velocity as a
Vector3
with x, y, and z axes represented in m/secmy_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
- Return type:
For more information, see Movement Sensor component.
- abstract get_angular_velocity(*, extra: Dict[str, Any] | None = None, timeout: float | None = None, **kwargs) viam.components.movement_sensor.Vector3 [source]
- Async:
Get the current angular velocity as a
Vector3
with x, y, and z axes represented in degrees/secmy_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
- Return type:
For more information, see Movement Sensor component.
- abstract get_linear_acceleration(*, extra: Dict[str, Any] | None = None, timeout: float | None = None, **kwargs) viam.components.movement_sensor.Vector3 [source]
- Async:
Get the current linear acceleration as a
Vector3
with x, y, and z axes represented in m/sec^2my_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
- Return type:
For more information, see Movement Sensor component.
- abstract get_compass_heading(*, extra: Dict[str, Any] | None = None, timeout: float | None = None, **kwargs) float [source]
- 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
- Return type:
float
For more information, see Movement Sensor component.
- abstract get_orientation(*, extra: Dict[str, Any] | None = None, timeout: float | None = None, **kwargs) viam.components.movement_sensor.Orientation [source]
- 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
- Return type:
For more information, see Movement Sensor component.
- abstract get_properties(*, extra: Dict[str, Any] | None = None, timeout: float | None = None, **kwargs) Properties [source]
- 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
- Return type:
For more information, see Movement Sensor component.
- abstract get_accuracy(*, extra: Dict[str, Any] | None = None, timeout: float | None = None, **kwargs) Accuracy [source]
- 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
- Return type:
MovementSensor.Accuracy
For more information, see Movement Sensor component.
- async get_readings(*, extra: Dict[str, Any] | None = None, timeout: float | None = None, **kwargs) Mapping[str, viam.utils.SensorReading] [source]
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.
- Return type:
Mapping[str, Any]
For more information, see Movement Sensor component.
- classmethod from_robot(robot: viam.robot.client.RobotClient, name: str) typing_extensions.Self
Get the component named
name
from the provided robot.- Parameters:
robot (RobotClient) – The robot
name (str) – The name of the component
- Returns:
The component, if it exists on the robot
- Return type:
Self
- abstract do_command(command: Mapping[str, ValueTypes], *, timeout: float | None = None, **kwargs) Mapping[str, ValueTypes]
- Async:
Send/Receive arbitrary commands to the Resource
command = {"cmd": "test", "data1": 500} result = component.do(command)
- Parameters:
command (Mapping[str, ValueTypes]) – The command to execute
- Raises:
NotImplementedError – Raised if the Resource does not support arbitrary commands
- Returns:
Result of the executed command
- Return type:
Mapping[str, ValueTypes]
- async get_geometries(*, extra: Dict[str, Any] | None = None, timeout: float | None = None) List[viam.proto.common.Geometry]
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.
- Return type:
List[Geometry]
- classmethod get_resource_name(name: str) viam.proto.common.ResourceName
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 = Arm.get_resource_name("my_arm")
- Parameters:
name (str) – The name of the Resource
- Returns:
The ResourceName of this Resource
- Return type:
- 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 theOperation
is cancelled, then you can perform any necessary (terminating long running tasks, cleaning up connections, etc. ).- Parameters:
kwargs (Mapping[str, Any]) – The kwargs object containing the operation
- Returns:
The operation associated with this function
- Return type:
- async close()
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()