`viam.proto.service.slam`

@generated by Viam. Do not edit manually!

Package Contents

Classes

`SLAMServiceBase`	Helper class that provides a standard way to create an ABC using
`SLAMServiceStub`
`GetInternalStateRequest`	Abstract base class for protocol messages.
`GetInternalStateResponse`	Abstract base class for protocol messages.
`GetPointCloudMapRequest`	Abstract base class for protocol messages.
`GetPointCloudMapResponse`	Abstract base class for protocol messages.
`GetPositionRequest`	Abstract base class for protocol messages.
`GetPositionResponse`	Abstract base class for protocol messages.
`GetPropertiesRequest`	Abstract base class for protocol messages.
`GetPropertiesResponse`	Returns properties information for the named slam service
`MappingMode`	MappingMode represnts the various form of mapping and localizing SLAM can perform.
`SensorInfo`	Abstract base class for protocol messages.
`SensorType`

class viam.proto.service.slam.SLAMServiceBase[source]

Bases: abc.ABC

Helper class that provides a standard way to create an ABC using inheritance.

abstract async GetPosition(stream: grpclib.server.Stream[service.slam.v1.slam_pb2.GetPositionRequest, service.slam.v1.slam_pb2.GetPositionResponse]) → None[source]

abstract async GetPointCloudMap(stream: grpclib.server.Stream[service.slam.v1.slam_pb2.GetPointCloudMapRequest, service.slam.v1.slam_pb2.GetPointCloudMapResponse]) → None[source]

abstract async GetInternalState(stream: grpclib.server.Stream[service.slam.v1.slam_pb2.GetInternalStateRequest, service.slam.v1.slam_pb2.GetInternalStateResponse]) → None[source]

abstract async GetProperties(stream: grpclib.server.Stream[service.slam.v1.slam_pb2.GetPropertiesRequest, service.slam.v1.slam_pb2.GetPropertiesResponse]) → None[source]

abstract async DoCommand(stream: grpclib.server.Stream[common.v1.common_pb2.DoCommandRequest, common.v1.common_pb2.DoCommandResponse]) → None[source]

__mapping__() → Dict[str, grpclib.const.Handler][source]

class viam.proto.service.slam.SLAMServiceStub(channel: grpclib.client.Channel)[source]

class viam.proto.service.slam.GetInternalStateRequest(*, name: str = ...)

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.

name: str: Name of slam service

class viam.proto.service.slam.GetInternalStateResponse(*, internal_state_chunk: bytes = ...)

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.

internal_state_chunk: bytes: Chunk of the internal state of the SLAM algorithm required to continue mapping/localization

class viam.proto.service.slam.GetPointCloudMapRequest(*, name: str = ..., return_edited_map: bool | None = ...)

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.

name: str: Name of slam service

return_edited_map: bool: For SLAM services that implement handling an edited map, this boolean should indicate whether to return that edited map. If the SLAM service does not handle edited maps, the unedited map will be returned instead.

HasField(field_name: Literal[_return_edited_map, b'_return_edited_map', return_edited_map, b'return_edited_map']) → bool

Checks if a certain field is set for the message.

For a oneof group, checks if any field inside is set. Note that if the field_name is not defined in the message descriptor, ValueError will be raised.

Parameters:: field_name (str) – The name of the field to check for presence.
Returns:: Whether a value has been set for the named field.
Return type:: bool
Raises:: ValueError – if the field_name is not a member of this message.

WhichOneof(oneof_group: Literal[_return_edited_map, b'_return_edited_map']) → Literal[return_edited_map] | None

Returns the name of the field that is set inside a oneof group.

If no field is set, returns None.

Parameters:: oneof_group (str) – the name of the oneof group to check.
Returns:: The name of the group that is set, or None.
Return type:: str or None
Raises:: ValueError – no group with the given name exists

class viam.proto.service.slam.GetPointCloudMapResponse(*, point_cloud_pcd_chunk: bytes = ...)

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.

point_cloud_pcd_chunk: bytes

One chunk of the PointCloud. For a given GetPointCloudMap request, concatenating all GetPointCloudMapResponse.point_cloud_pcd_chunk values in the order received result in the complete pointcloud in standard PCD format where XY is the ground plane and positive Z is up, following the Right Hand Rule.

Read more about the pointcloud format here: https://pointclouds.org/documentation/tutorials/pcd_file_format.html

Viam expects pointcloud data with fields “x y z” or “x y z rgb”, and for this to be specified in the pointcloud header in the FIELDS entry. If color data is included in the pointcloud, Viam’s services assume that the color value encodes a confidence score for that data point. Viam expects the confidence score to be encoded in the blue parameter of the RGB value, on a scale from 1-100.

Pointclouds are little endian encoded.

class viam.proto.service.slam.GetPositionRequest(*, name: str = ...)

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.

name: str: Name of slam service

class viam.proto.service.slam.GetPositionResponse(*, pose: viam.gen.common.v1.common_pb2.Pose | None = ..., component_reference: str = ..., extra: google.protobuf.struct_pb2.Struct | None = ...)

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.

property pose: viam.gen.common.v1.common_pb2.Pose: Current position of the specified component in the SLAM Map

property extra: google.protobuf.struct_pb2.Struct: Additional information in the response

component_reference: str: This is usually the name of the camera that is in the SLAM config

HasField(field_name: Literal[extra, b'extra', pose, b'pose']) → bool

Checks if a certain field is set for the message.

For a oneof group, checks if any field inside is set. Note that if the field_name is not defined in the message descriptor, ValueError will be raised.

Parameters:: field_name (str) – The name of the field to check for presence.
Returns:: Whether a value has been set for the named field.
Return type:: bool
Raises:: ValueError – if the field_name is not a member of this message.

class viam.proto.service.slam.GetPropertiesRequest(*, name: str = ...)

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.

name: str: Name of the slam service

class viam.proto.service.slam.GetPropertiesResponse(*, cloud_slam: bool = ..., mapping_mode: global___MappingMode = ..., internal_state_file_type: str | None = ..., sensor_info: collections.abc.Iterable[global___SensorInfo] | None = ...)

Bases: google.protobuf.message.Message

Returns properties information for the named slam service

property sensor_info: google.protobuf.internal.containers.RepeatedCompositeFieldContainer[global___SensorInfo]

cloud_slam: bool

mapping_mode: global___MappingMode

internal_state_file_type: str

HasField(field_name: Literal[_internal_state_file_type, b'_internal_state_file_type', internal_state_file_type, b'internal_state_file_type']) → bool

Checks if a certain field is set for the message.

For a oneof group, checks if any field inside is set. Note that if the field_name is not defined in the message descriptor, ValueError will be raised.

Parameters:: field_name (str) – The name of the field to check for presence.
Returns:: Whether a value has been set for the named field.
Return type:: bool
Raises:: ValueError – if the field_name is not a member of this message.

WhichOneof(oneof_group: Literal[_internal_state_file_type, b'_internal_state_file_type']) → Literal[internal_state_file_type] | None

Returns the name of the field that is set inside a oneof group.

If no field is set, returns None.

Parameters:: oneof_group (str) – the name of the oneof group to check.
Returns:: The name of the group that is set, or None.
Return type:: str or None
Raises:: ValueError – no group with the given name exists

class viam.proto.service.slam.MappingMode

Bases: _MappingMode

MappingMode represnts the various form of mapping and localizing SLAM can perform. These include, creating a new map, localizing on an existiing map and updating an exisiting map.

class viam.proto.service.slam.SensorInfo(*, name: str = ..., type: global___SensorType = ...)

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.

name: str

type: global___SensorType

class viam.proto.service.slam.SensorType: Bases: _SensorType

viam.proto.service.slam

Package Contents

Classes

`viam.proto.service.slam`