GeoPose class
GeoPose is a GPS position and orientation, optionally with altitude.
Orientation is expressed in the east-north-up tangent frame at location: +X east, +Y north, +Z up. Viam base axes are +X right, +Y forward, and +Z up, so the identity orientation (o_x, o_y, o_z, theta) = (0, 0, 1, 0) is level and faces north: forward is north and right is east.
The same rotation as an orientation vector is Viam's Tait-Bryan Euler sequence, intrinsic z-y'-x'' (yaw, then pitch, then roll), in degrees:
- yaw: right-handed rotation about local up (+Z). Zero faces north. Positive yaw is counterclockwise viewed from above, so a compass heading in degrees clockwise from north is the negation of yaw.
- pitch: right-handed rotation about the base's forward axis (+Y).
- roll: right-handed rotation about the base's right axis (+X). With pitch 0, positive roll raises the forward axis; that angle is the elevation of forward above the local horizon.
Exactly one of heading or orientation_vector is set. heading is only the compass yaw of a level pose (pitch 0, roll 0). It is not added to orientation_vector.
- Inheritance
-
- Object
- GeneratedMessage
- GeoPose
- Available extensions
Constructors
- GeoPose({GeoPoint? location, double? heading, double? altitude, Orientation? orientationVector})
-
factory
-
GeoPose.fromBuffer(List<
int> i, [ExtensionRegistry r = $pb.ExtensionRegistry.EMPTY]) -
factory
- GeoPose.fromJson(String i, [ExtensionRegistry r = $pb.ExtensionRegistry.EMPTY])
-
factory
Properties
- altitude ↔ double
-
Optional altitude in meters
getter/setter pair
- eventPlugin → EventPlugin?
-
Subclasses can override this getter to be notified of changes
to protobuf fields.
no setterinherited
- hashCode → int
-
Calculates a hash code based on the contents of the protobuf.
no setterinherited
- heading ↔ double
-
Compass heading in degrees, clockwise from north. Level pose: pitch 0, roll 0.
getter/setter pair
- info_ → BuilderInfo
-
no setteroverride
- isFrozen → bool
-
Returns
trueif this message is marked read-only. Otherwisefalse.no setterinherited - location ↔ GeoPoint
-
Latitude and longitude in degrees
getter/setter pair
- orientationVector ↔ Orientation
-
Full orientation in the east-north-up tangent frame at location.
o_x, o_y, o_z, theta in degrees, same orientation vector as Pose.
getter/setter pair
- runtimeType → Type
-
A representation of the runtime type of the object.
no setterinherited
- unknownFields → UnknownFieldSet
-
no setterinherited
Methods
-
addExtension(
Extension extension, Object? value) → void -
Adds an extension field value to a repeated field.
inherited
-
check(
) → void -
inherited
-
clear(
) → void -
Clears all data that was set in this message.
inherited
-
clearAltitude(
) → void -
clearExtension(
Extension extension) → void -
Clears an extension field and also removes the extension.
inherited
-
clearField(
int tagNumber) → void -
Clears the contents of a given field.
inherited
-
clearHeading(
) → void -
clearLocation(
) → void -
clearOrientation(
) → void -
clearOrientationVector(
) → void -
clone(
) → GeoPose -
Creates a deep copy of the fields in this message.
(The generated code uses mergeFromMessage.)
override
-
copyWith(
void updates(GeoPose)) → GeoPose -
Apply
updatesto a copy of this message.override -
createEmptyInstance(
) → GeoPose -
Creates an empty instance of the same message type as this.
override
-
createMapField<
K, V> (int tagNumber, MapFieldInfo< K, V> fi) → Map<K, V> -
Creates a Map representing a map field.
inherited
-
createRepeatedField<
T> (int tagNumber, FieldInfo< T> fi) → List<T> -
Creates List implementing a mutable repeated field.
inherited
-
deepCopy(
) → T -
Available on T, provided by the GeneratedMessageGenericExtensions extension
Returns a writable deep copy of this message. -
ensureLocation(
) → GeoPoint -
ensureOrientationVector(
) → Orientation -
extensionsAreInitialized(
) → bool -
inherited
-
freeze(
) → GeneratedMessage -
Make this message read-only.
inherited
-
getDefaultForField(
int tagNumber) → dynamic -
Returns the default value for the given field.
inherited
-
getExtension(
Extension extension) → dynamic -
Returns the value of
extension.inherited -
getField(
int tagNumber) → dynamic -
Returns the value of the field associated with
tagNumber, or the default value if it is not set.inherited -
getFieldOrNull(
int tagNumber) → dynamic -
Returns the value of a field, ignoring any defaults.
inherited
-
getTagNumber(
String fieldName) → int? -
inherited
-
hasAltitude(
) → bool -
hasExtension(
Extension extension) → bool -
Returns
trueif a value ofextensionis present.inherited -
hasField(
int tagNumber) → bool -
Whether this message has a field associated with
tagNumber.inherited -
hasHeading(
) → bool -
hasLocation(
) → bool -
hasOrientationVector(
) → bool -
hasRequiredFields(
) → bool -
Whether the message has required fields.
inherited
-
isInitialized(
) → bool -
Whether all required fields in the message and embedded messages are set.
inherited
-
mergeFromBuffer(
List< int> input, [ExtensionRegistry extensionRegistry = ExtensionRegistry.EMPTY]) → void -
Merges serialized protocol buffer data into this message.
inherited
-
mergeFromCodedBufferReader(
CodedBufferReader input, [ExtensionRegistry extensionRegistry = ExtensionRegistry.EMPTY]) → void -
inherited
-
mergeFromJson(
String data, [ExtensionRegistry extensionRegistry = ExtensionRegistry.EMPTY]) → void -
Merges field values from
data, a JSON object, encoded as described by GeneratedMessage.writeToJson.inherited -
mergeFromJsonMap(
Map< String, dynamic> json, [ExtensionRegistry extensionRegistry = ExtensionRegistry.EMPTY]) → void -
Merges field values from a JSON object represented as a Dart map.
inherited
-
mergeFromMessage(
GeneratedMessage other) → void -
Merges the contents of the
otherinto this message.inherited -
mergeFromProto3Json(
Object? json, {TypeRegistry typeRegistry = const TypeRegistry.empty(), bool ignoreUnknownFields = false, bool supportNamesWithUnderscores = true, bool permissiveEnums = false}) → void -
Merges field values from
json, a JSON object using proto3 encoding.inherited -
mergeUnknownFields(
UnknownFieldSet unknownFieldSet) → void -
inherited
-
noSuchMethod(
Invocation invocation) → dynamic -
Invoked when a nonexistent method or property is accessed.
inherited
-
rebuild(
void updates(T)) → T -
Available on T, provided by the GeneratedMessageGenericExtensions extension
Applyupdatesto a copy of this message. -
setExtension(
Extension extension, Object value) → void -
Sets the value of a non-repeated extension field to
value.inherited -
setField(
int tagNumber, Object value) → void -
Sets the value of a field by its
tagNumber.inherited -
toBuilder(
) → GeneratedMessage -
Creates a writable, shallow copy of this message.
inherited
-
toDebugString(
) → String -
Returns a String representation of this message.
inherited
-
toProto3Json(
{TypeRegistry typeRegistry = const TypeRegistry.empty()}) → Object? -
Returns an Object representing Proto3 JSON serialization of
this.inherited -
toString(
) → String -
Returns a String representation of this message.
inherited
-
whichOrientation(
) → GeoPose_Orientation -
writeToBuffer(
) → Uint8List -
inherited
-
writeToCodedBufferWriter(
CodedBufferWriter output) → void -
inherited
-
writeToJson(
) → String -
Returns a JSON string that encodes this message.
inherited
-
writeToJsonMap(
) → Map< String, dynamic> -
Returns the JSON encoding of this message as a Dart Map.
inherited
Operators
-
operator ==(
Object other) → bool -
The equality operator.
inherited
Static Methods
-
create(
) → GeoPose -
createRepeated(
) → PbList< GeoPose> -
getDefault(
) → GeoPose