viam.components.movement_sensor.movement_sensor

Module Contents

Classes

MovementSensor

MovementSensor reports information about the robot's direction, position and speed.

class viam.components.movement_sensor.movement_sensor.MovementSensor(name: str)

Bases: viam.components.sensor.Sensor

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.

class Properties

property proto: viam.proto.component.movementsensor.GetPropertiesResponse

linear_acceleration_supported: bool

angular_velocity_supported: bool

orientation_supported: bool

position_supported: bool

compass_heading_supported: bool

linear_velocity_supported: bool

classmethod from_proto(proto: viam.proto.component.movementsensor.GetPropertiesResponse) → typing_extensions.Self

SUBTYPE: Final

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

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

Returns:

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

Return type:

Tuple[GeoPoint, float]

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

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

Returns:

The linear velocity in m/sec

Return type:

Vector3

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

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

Returns:

The angular velocity in degrees/sec

Return type:

Vector3

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

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

Returns:

The linear acceleration in m/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.components.movement_sensor.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:

MovementSensor.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

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. 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.

Returns:

The readings for the MovementSensor: {

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

}

Return type:

Mapping[str, Any]

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 async do_command(command: Mapping[str, ValueTypes], *, timeout: Optional[float] = None, **kwargs) → Mapping[str, ValueTypes]

Send/Receive arbitrary commands to the Resource

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]

classmethod get_resource_name(name: str) → viam.proto.common.ResourceName

Get the ResourceName for this Resource with the given name

Parameters:

name (str) – The name of the Resource

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. ).

Parameters:

kwargs (Mapping[str, Any]) – The kwargs object containing the operation

Returns:

The operation associated with this function

Return type:

viam.operations.Operation