viam.components.movement_sensor

Submodules

• viam.components.movement_sensor.client
• viam.components.movement_sensor.movement_sensor
• viam.components.movement_sensor.service

Package Contents

Classes

GeoPoint	Abstract base class for protocol messages.
MovementSensor	MovementSensor reports information about the robot's direction, position and speed.
Orientation	Abstract base class for protocol messages.
Vector3	Abstract base class for protocol messages.

class viam.components.movement_sensor.GeoPoint(*, latitude: float = ..., longitude: float = ...)

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.MovementSensor(name: str)

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.

SUBTYPE :Final

Properties

abstract async get_position(*, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs) → Tuple[viam.proto.common.GeoPoint, float]

Get the current GeoPoint (latitude, longitude) and altitude (mm)

Returns

The current lat/long, along with the altitude in mm

Return type

Tuple[GeoPoint, float]

abstract async get_linear_velocity(*, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs) → viam.proto.common.Vector3

Get the current linear velocity as a Vector3 with x, y, and z axes represented in mm/sec

Returns

The linear velocity in mm/sec

Return type

Vector3

abstract async get_angular_velocity(*, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs) → viam.proto.common.Vector3

Get the current angular velocity as a Vector3 with x, y, and z axes represented in radians/sec

Returns

The angular velocity in rad/sec

Return type

Vector3

abstract async get_linear_acceleration(*, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs) → viam.proto.common.Vector3

Get the current linear acceleration as a Vector3 with x, y, and z axes represented in mm/sec^2

Returns

The linear acceleration in mm/sec^2

Return type

Vector3

abstract async get_compass_heading(*, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs) → float

Get the current compass heading in degrees

Returns

The compass heading in degrees

Return type

float

abstract async get_orientation(*, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs) → viam.proto.common.Orientation

Get the current orientation

Returns

The orientation

Return type

Orientation

abstract async get_properties(*, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs) → Properties

Get the supported properties of this sensor

Returns

The properties

Return type

Properties

abstract async get_accuracy(*, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs) → Mapping[str, float]

Get the accuracy of the various sensors

Returns

The accuracy in mm

Return type

Dict[str, float]

async get_readings(*, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs) → Mapping[str, Any]

Obtain the measurements/data specific to this sensor.

Returns

The readings for the MovementSensor: {

position: GeoPoint, altitude: float, linear_velocity: Vector3, angular_velocity: Vector3, compass: float, orientation: Orientation

}

Return type

Mapping[str, Any]

class viam.components.movement_sensor.Orientation(*, o_x: float = ..., o_y: float = ..., o_z: float = ..., theta: float = ...)

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 = ...)

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