From da4933326d57e0e7c192c850645ac43f16f0d786 Mon Sep 17 00:00:00 2001 From: JessamyT Date: Mon, 17 Jun 2024 10:48:22 -0700 Subject: [PATCH] DOCS-2329: GeoObstacle -> GeoGeometry --- docs/services/motion/_index.md | 6 +++--- docs/services/navigation/_index.md | 4 ++-- .../services/apis/overrides/protos/motion.MoveOnGlobe.md | 2 +- 3 files changed, 6 insertions(+), 6 deletions(-) diff --git a/docs/services/motion/_index.md b/docs/services/motion/_index.md index e0b4a1fea0..f148fef58a 100644 --- a/docs/services/motion/_index.md +++ b/docs/services/motion/_index.md @@ -497,7 +497,7 @@ Make sure the [movement sensor](/components/movement-sensor/) you use supports u The `heading` parameter is experimental. Specifying `heading` in a request to `MoveOnGlobe` is not currently recommended if the minimum turning radius of your component is greater than zero, as this combination may cause high latency in the [motion planning algorithms](/services/motion/algorithms/). -Specifying `obstacles` in a request to `MoveOnGlobe()` will cause an error if you configure a `"translation"` in the `"geometries"` of any of the `GeoObstacle` objects. +Specifying `obstacles` in a request to `MoveOnGlobe()` will cause an error if you configure a `"translation"` in the `"geometries"` of any of the `GeoGeometry` objects. Translation in obstacles is not supported by the [navigation service](/services/navigation/). {{< /alert >}} @@ -510,7 +510,7 @@ Translation in obstacles is not supported by the [navigation service](/services/ - `component_name` [(ResourceName)](https://python.viam.dev/autoapi/viam/proto/common/index.html#viam.proto.common.ResourceName): The `ResourceName` of the base to move. - `destination` [(GeoPoint)](https://python.viam.dev/autoapi/viam/components/movement_sensor/index.html#viam.components.movement_sensor.GeoPoint): The location of the component's destination, represented in geographic notation as a [GeoPoint](https://python.viam.dev/autoapi/viam/components/movement_sensor/index.html#viam.components.movement_sensor.GeoPoint) _(lat, lng)_. - `movement_sensor_name` [(ResourceName)](https://python.viam.dev/autoapi/viam/proto/common/index.html#viam.proto.common.ResourceName): The `ResourceName` of the [movement sensor](/components/movement-sensor/) that you want to use to check the machine's location. -- `obstacles` [(Optional[Sequence[GeoObstacle]])](https://python.viam.dev/autoapi/viam/proto/common/index.html#viam.proto.common.GeoObstacle): Obstacles to consider when planning the motion of the component, with each represented as a `GeoObstacle`. +- `obstacles` [(Optional[Sequence[GeoGeometry]])](https://python.viam.dev/autoapi/viam/proto/common/index.html#viam.proto.common.GeoGeometry): Obstacles to consider when planning the motion of the component, with each represented as a `GeoGeometry`. - `heading` [(Optional[float])](https://docs.python.org/library/typing.html#typing.Optional): The compass heading, in degrees, that the machine's movement sensor should report at the `destination` point. - `configuration` [(Optional[MotionConfiguration])](https://python.viam.dev/autoapi/viam/proto/service/motion/index.html#viam.proto.service.motion.MotionConfiguration): The configuration you want to set across this machine for this motion service. This parameter and each of its fields are optional. - `obstacle_detectors` [(Iterable[ObstacleDetector])](https://python.viam.dev/autoapi/viam/proto/service/motion/index.html#viam.proto.service.motion.ObstacleDetector): The names of each [vision service](/services/vision/) and [camera](/components/camera/) resource pair you want to use for transient obstacle avoidance. @@ -557,7 +557,7 @@ execution_id = await motion.move_on_globe( - `destination` [(\*geo.Point)](https://pkg.go.dev/github.com/kellydunn/golang-geo#Point): The location of the component's destination, represented in geographic notation as a [Point](https://pkg.go.dev/github.com/kellydunn/golang-geo#Point) _(lat, lng)_. - `heading` [(float64)](https://pkg.go.dev/builtin#float64): The compass heading, in degrees, that the machine's movement sensor should report at the `destination` point. - `movementSensorName` [(resource.Name)](https://pkg.go.dev/go.viam.com/rdk/resource#Name): The `resource.Name` of the [movement sensor](/components/movement-sensor/) that you want to use to check the machine's location. - - `obstacles` [([]\*spatialmath.GeoObstacle)](https://pkg.go.dev/go.viam.com/rdk/spatialmath#GeoObstacle): Obstacles to consider when planning the motion of the component, with each represented as a `GeoObstacle`. + - `obstacles` [([]\*spatialmath.GeoGeometry)](https://pkg.go.dev/go.viam.com/rdk/spatialmath#GeoGeometry): Obstacles to consider when planning the motion of the component, with each represented as a `GeoGeometry`. - `motionConfig` [(\*MotionConfiguration)](https://pkg.go.dev/go.viam.com/rdk/services/motion#MotionConfiguration): The configuration you want to set across this machine for this motion service. This parameter and each of its fields are optional. - `ObstacleDetectors` [([]ObstacleDetectorName)](https://pkg.go.dev/go.viam.com/rdk/services/motion#ObstacleDetectorName): The names of each [vision service](/services/vision/) and [camera](/components/camera/) resource pair you want to use for transient obstacle avoidance. - `PositionPollingFreqHz` [(float64)](https://pkg.go.dev/builtin#float64): The frequency in hz to poll the position of the machine. diff --git a/docs/services/navigation/_index.md b/docs/services/navigation/_index.md index e068d90323..197148564f 100644 --- a/docs/services/navigation/_index.md +++ b/docs/services/navigation/_index.md @@ -608,7 +608,7 @@ See the [motion service](/services/motion/) for more information. **Returns:** -- [(List[navigation.GeoObstacle])](https://python.viam.dev/autoapi/viam/services/navigation/index.html#viam.services.navigation.GeoObstacle): A list comprised of each `GeoObstacle` in the service's data storage. +- [(List[navigation.GeoGeometry])](https://python.viam.dev/autoapi/viam/services/navigation/index.html#viam.services.navigation.GeoGeometry): A list comprised of each `GeoGeometry` in the service's data storage. These are objects designated for the robot to avoid when navigating. For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/viam/services/navigation/index.html#viam.services.navigation.NavigationClient.get_obstacles). @@ -630,7 +630,7 @@ obstacles = await my_nav.get_obstacles() **Returns:** -- [([]\*spatialmath.GeoObstacle)](https://pkg.go.dev/go.viam.com/rdk/spatialmath#GeoObstacle): An array comprised of each `GeoObstacle` in the service's data storage. +- [([]\*spatialmath.GeoGeometry)](https://pkg.go.dev/go.viam.com/rdk/spatialmath#GeoGeometry): An array comprised of each `GeoGeometry` in the service's data storage. These are objects designated for the robot to avoid when navigating. - [(error)](https://pkg.go.dev/builtin#error): An error, if one occurred. diff --git a/static/include/services/apis/overrides/protos/motion.MoveOnGlobe.md b/static/include/services/apis/overrides/protos/motion.MoveOnGlobe.md index 57603b6194..0674935bd0 100644 --- a/static/include/services/apis/overrides/protos/motion.MoveOnGlobe.md +++ b/static/include/services/apis/overrides/protos/motion.MoveOnGlobe.md @@ -28,7 +28,7 @@ Make sure the [movement sensor](/components/movement-sensor/) you use supports u The `heading` parameter is experimental. Specifying `heading` in a request to `MoveOnGlobe` is not currently recommended if the minimum turning radius of your component is greater than zero, as this combination may cause high latency in the [motion planning algorithms](/services/motion/algorithms/). -Specifying `obstacles` in a request to `MoveOnGlobe()` will cause an error if you configure a `"translation"` in the `"geometries"` of any of the `GeoObstacle` objects. +Specifying `obstacles` in a request to `MoveOnGlobe()` will cause an error if you configure a `"translation"` in the `"geometries"` of any of the `GeoGeometry` objects. Translation in obstacles is not supported by the [navigation service](/services/navigation/). {{< /alert >}}