Contents Menu Expand Light mode Dark mode Auto light/dark, in light mode Auto light/dark, in dark mode Skip to content
OLO Documentation v2.0.0
OLO Robotics OLO Robotics
v2.0.0 alpha 2

Start here

  • Getting Started
  • OLO Platform
  • OLO Appliance
  • ROS 2 Concepts for OLO

SDK v2

  • Quickstart
  • Robot Namespaces
  • API Reference
    • Client
    • Core
    • Spatial
    • Kinematics
    • Locomotion
    • Navigation
    • Vision
    • AI
    • Local archive
    • Platform
    • Errors
    • TypeScript API
      • olo
      • olo/core
      • olo/spatial
      • olo/kinematics
      • olo/locomotion
      • olo/navigation
      • olo/vision
      • olo/ai
      • olo/archive
      • olo/platform
      • olo
      • Class: Client
      • Class: OloAmbiguousNamespace
      • Class: OloAmbiguousPlanningGroup
      • Class: OloError
      • Class: OloFailedPrecondition
      • Class: OloInternalError
      • Class: OloInvalidArgument
      • Class: OloNotFound
      • Class: OloPermissionDenied
      • Class: OloPlatformNotConfigured
      • Class: OloTimeoutError
      • Class: OloUnauthenticated
      • Class: OloUnavailable
      • Class: Robot
      • Interface: BagSummary
      • Interface: BagTopicInfo
      • Interface: CaptureImageResult
      • Interface: ClientOptions
      • Interface: ImageSummary
      • Interface: StopBagPlaybackResult
      • Interface: StopBagRecordingResult
      • Interface: StopVideoCaptureResult
      • Interface: VideoSummary
      • Variable: DEFAULT_MAX_MESSAGE_BYTES
      • Variable: DEFAULT_TARGET
      • Variable: ENV_MAX_MESSAGE_BYTES
      • Variable: ENV_TARGET
      • Class: Core
      • Class: CoreHandle
      • Class: Publisher
      • Class: RobotNamespaces
      • Class: Subscription
      • Function: compressedImageToMessage()
      • Function: compressedMessageToFrame()
      • Function: imageMessageToFrame()
      • Function: imageToMessage()
      • Function: normalizeRobotNamespace()
      • Interface: CallOptions
      • Interface: Image
      • Interface: ServiceInfo
      • Interface: TopicInfo
      • Type Alias: RosMessage
      • Type Alias: RosServiceMessage
      • Class: FrameTree
      • Class: FrameTreeNode
      • Class: Point
      • Class: Pose
      • Class: Quaternion
      • Class: RobotFrames
      • Class: Spatial
      • Class: Transform
      • Class: TransformSubscription
      • Class: TreeSubscription
      • Class: Twist
      • Class: Vector
      • Function: wrapError()
      • Interface: FrameInfo
      • Interface: LookupTransformOptions
      • Interface: PublishStaticTransformOptions
      • Interface: SubscribeTransformOptions
      • Interface: TransformInit
      • Interface: TreeDelta
      • Interface: TreeOptions
      • Type Alias: Matrix
      • Class: EndEffector
      • Class: Gripper
      • Class: JointStates
      • Class: JointTarget
      • Class: Kinematics
      • Class: KinematicsHandle
      • Class: KinematicsState
      • Class: PlanResult
      • Class: RobotModel
      • Class: Trajectory
      • Class: TrajectoryPoint
      • Enumeration: Activity
      • Enumeration: EndEffectorType
      • Enumeration: JointType
      • Function: groupState()
      • Interface: CommandEndEffectorOptions
      • Interface: EndEffectorInit
      • Interface: ExecuteTrajectoryOptions
      • Interface: GetPoseOptions
      • Interface: GripperCommandOptions
      • Interface: GripperInfo
      • Interface: GripperResult
      • Interface: GroupState
      • Interface: JointInfo
      • Interface: JointStatesInit
      • Interface: MoveJointsOptions
      • Interface: MoveLinearOptions
      • Interface: MovePoseOptions
      • Interface: MoveSequenceOptions
      • Interface: PlanJointsOptions
      • Interface: PlanLinearOptions
      • Interface: PlanOptionsBase
      • Interface: PlanPoseOptions
      • Interface: PlanSequenceOptions
      • Interface: PlanningGroup
      • Interface: RobotModelInit
      • Interface: TrajectoryInit
      • Interface: TrajectoryPointInit
      • Type Alias: MoveResult
      • Class: Locomotion
      • Class: LocomotionHandle
      • Enumeration: LocomotionOutcome
      • Interface: AppliedVelocity
      • Interface: LocomotionFeedback
      • Interface: LocomotionResult
      • Interface: MoveOptions
      • Interface: PlanarMotion
      • Interface: SendVelocityOptions
      • Interface: StopOptions
      • Type Alias: LocomotionEvent
      • Class: Navigation
      • Class: NavigationGoal
      • Class: NavigationHandle
      • Class: NavigationState
      • Class: OccupancyGrid
      • Enumeration: Activity
      • Enumeration: Availability
      • Enumeration: Nav2ErrorCode
      • Enumeration: NavigationOutcome
      • Function: nav2ErrorCodeName()
      • Interface: CheckReachabilityOptions
      • Interface: GetMapOptions
      • Interface: NavigateToOptions
      • Interface: NavigationFeedback
      • Interface: NavigationResult
      • Interface: ReachabilityResult
      • Interface: SendNavigationGoalOptions
      • Type Alias: NavigationEvent
      • Class: BoundingBox
      • Function: cameraInfoToIntrinsics()
      • Function: deproject()
      • Function: deprojectPixel()
      • Function: deprojectPoint()
      • Function: deprojectRegion()
      • Function: deprojectToFrame()
      • Function: pixelAlignmentError()
      • Function: positionError()
      • Function: project()
      • Function: projectPoint()
      • Function: sampleDepth()
      • Function: sampleDepthPoint()
      • Function: sampleDepthRegion()
      • Interface: AlignmentError
      • Interface: CameraIntrinsics
      • Interface: Pixel
      • Interface: PointObservation
      • Interface: PositionError
      • Interface: SampleDepthOptions
      • Interface: SampleDepthRegionOptions
      • Class: Ai
      • Class: Model
      • Class: YoloDetector
      • Function: decodeYolox()
      • Function: imageToTensor()
      • Function: letterbox()
      • Function: nms()
      • Function: resizeBilinear()
      • Function: softmax()
      • Function: tensor()
      • Function: tensorFromProto()
      • Function: tensorToProto()
      • Interface: DetectOptions
      • Interface: Detection
      • Interface: ImageToTensorOptions
      • Interface: InferOptions
      • Interface: LetterboxResult
      • Interface: ModelInfo
      • Interface: RawPixels
      • Interface: Tensor
      • Interface: TensorInfo
      • Interface: YoloDetectorOptions
      • Type Alias: DataType
      • Type Alias: TensorData
      • Variable: COCO_LABELS
      • Variable: DataType
      • Class: Archive
      • Class: ArchiveHandle
      • Class: BagSession
      • Class: PlaybackSession
      • Class: VideoSession
      • Interface: BagInfo
      • Interface: CaptureImageOptions
      • Interface: CaptureVideoOptions
      • Interface: PlayBagOptions
      • Interface: RecordBagOptions
      • Type Alias: BagSessionTerminalEvent
      • Class: Platform
      • Class: PlatformArchive
      • Class: PlatformNavigation
      • Interface: BagInfo
      • Interface: ImageCatalogInfo
      • Interface: MapInfo
      • Interface: NavConfigInfo
      • Interface: NavigationDeploymentInfo
      • Interface: NavigationDesiredSpec
      • Interface: NavigationObservedStatus
      • Interface: PlatformOptions
      • Interface: Pose2D
      • Interface: SaveMapOptions
      • Interface: StartNavigationDeploymentOptions
      • Interface: VideoCatalogInfo
      • Function: resolveRobotId()
      • Type Alias: CatalogLocation
      • Type Alias: NamespaceResolver
      • Type Alias: NavConfigSource
      • Type Alias: NavigationDesiredState
      • Type Alias: NavigationMode
      • Type Alias: NavigationObservedState
      • Variable: ENV_PLATFORM_TOKEN
      • Variable: ENV_PLATFORM_URL
      • Variable: ENV_ROBOT_ID

Examples

  • Core
    • Topic listing and robot namespaces
    • Publishing messages
    • Subscribing to messages
    • Service discovery and invocation
  • Spatial
    • Individual transform lookup
    • Transform tree inspection
    • Spatial Type Construction
    • Composition and Inverses
  • Kinematics
    • Robot model, joints, and pose
    • Move to joint targets
    • Move to end-effector poses
    • Move along linear paths
    • Trajectory speed scaling
    • Plan with multiple groups
    • Gripper operations
  • Locomotion
    • Local locomotion
    • Velocity streaming
  • Navigation
    • Simple navigation
    • Localization with a saved map
    • Inspect the map and navigate to a reachable goal
  • Vision
    • Depth camera helpers
    • Point tracking pick loop
  • AI
    • Object detection
    • Streaming RGB detection
    • Streaming RGB-D detection
  • Archive
    • Local image and video archive
    • Local rosbag recording
    • Cloud archive catalog

Previous SDK

  • Migrate from SDK v1
  • SDK v1 Archive
Back to top
View this page

olo/spatial¶

Spatial maths and TF wrapper over olo.spatial.v1.Spatial.

Classes¶

  • FrameTree

  • FrameTreeNode

  • Point

  • Pose

  • Quaternion

  • RobotFrames

  • Spatial

  • Transform

  • TransformSubscription

  • TreeSubscription

  • Twist

  • Vector

Interfaces¶

  • FrameInfo

  • LookupTransformOptions

  • PublishStaticTransformOptions

  • SubscribeTransformOptions

  • TransformInit

  • TreeDelta

  • TreeOptions

Type Aliases¶

  • Matrix

Functions¶

  • wrapError

Next
olo/kinematics
Previous
olo/core
Copyright ©
Made with Sphinx and @pradyunsg's Furo