adding pose tracker to sdk (#615)

Author: gmulz

src/components/pose-tracker/client.ts

@@ -0,0 +1,49 @@
+import { type JsonValue, Struct } from '@bufbuild/protobuf';
+import type { CallOptions, PromiseClient } from '@connectrpc/connect';
+import { PoseTrackerService } from '../../gen/component/posetracker/v1/pose_tracker_connect';
+import type { RobotClient } from '../../robot';
+import type { Options } from '../../types';
+import { doCommandFromClient } from '../../utils';
+import type { PoseTracker } from './pose-tracker';
+import { GetGeometriesRequest } from '../../gen/common/v1/common_pb';
+
+/**
+ * A gRPC-web client for the Generic component.
+ *
+ * @group Clients
+ */
+export class PoseTrackerClient implements PoseTracker {
+  private client: PromiseClient<typeof PoseTrackerService>;
+  public readonly name: string;
+  private readonly options: Options;
+  public callOptions: CallOptions = { headers: {} as Record<string, string> };
+
+  constructor(client: RobotClient, name: string, options: Options = {}) {
+    this.client = client.createServiceClient(PoseTrackerService);
+    this.name = name;
+    this.options = options;
+  }
+
+  async getGeometries(extra = {}, callOptions = this.callOptions) {
+    const request = new GetGeometriesRequest({
+      name: this.name,
+      extra: Struct.fromJson(extra),
+    });
+
+    const response = await this.client.getGeometries(request, callOptions);
+    return response.geometries;
+  }
+
+  async doCommand(
+    command: Struct,
+    callOptions = this.callOptions
+  ): Promise<JsonValue> {
+    return doCommandFromClient(
+      this.client.doCommand,
+      this.name,
+      command,
+      this.options,
+      callOptions
+    );
+  }
+}

src/components/pose-tracker/pose-tracker.ts

@@ -0,0 +1,26 @@
+import type { Geometry } from '../../gen/common/v1/common_pb';
+import type { Struct, Resource } from '../../types';
+
+/** Represents a generic component. */
+export interface PoseTracker extends Resource {
+  /**
+   * Get the geometries of the component in their current configuration.
+   *
+   * @example
+   *
+   * ```ts
+   * const generic = new VIAM.GenericComponentClient(
+   *   machine,
+   *   'my_generic_component'
+   * );
+   *
+   * // Get the geometries of this component
+   * const geometries = await generic.getGeometries();
+   * console.log('Geometries:', geometries);
+   * ```
+   *
+   * For more information, see [Generic
+   * API](https://docs.viam.com/dev/reference/apis/components/generic/#getgeometries).
+   */
+  getGeometries: (extra?: Struct) => Promise<Geometry[]>;
+}

src/components/posetracker.ts

@@ -0,0 +1,2 @@
+export { PoseTrackerClient } from './pose-tracker/client';
+export type { PoseTracker } from './pose-tracker/pose-tracker';

src/main.ts

@@ -282,6 +282,9 @@ export {
   GenericClient as GenericComponentClient,
   type Generic as GenericComponent,
 } from './components/generic';
+
+export { PoseTrackerClient, type PoseTracker } from './components/posetracker';
+
 /**
  * Raw Protobuf interfaces for a Generic component.
  *