{
  "opencollection": "1.0.0",
  "info": {
    "name": "Polymath API Service CANBus Vehicle Autonomy API",
    "version": "2.0.0"
  },
  "items": [
    {
      "info": {
        "name": "Vehicle Autonomy",
        "type": "folder"
      },
      "items": [
        {
          "info": {
            "name": "Get the combined Autonomy, Navigation and Vehicle feedback from the Polymath system",
            "type": "http"
          },
          "http": {
            "method": "GET",
            "url": "{{baseUrl}}/v2/polymath-feedback"
          },
          "docs": "Returns combined autonomy, navigation, and vehicle feedback from the Polymath system."
        },
        {
          "info": {
            "name": "Get global costmap boundary coordinates",
            "type": "http"
          },
          "http": {
            "method": "GET",
            "url": "{{baseUrl}}/v2/costmap/boundary"
          },
          "docs": "Returns the latest latitude/longitude coordinates for the four corners of the global costmap boundary."
        },
        {
          "info": {
            "name": "Get the available Navigation Path Options and associated Parameters",
            "type": "http"
          },
          "http": {
            "method": "GET",
            "url": "{{baseUrl}}/v2/navigation-path-options"
          },
          "docs": "Returns available navigation path options and configurable parameters."
        },
        {
          "info": {
            "name": "Get the available motion commands",
            "type": "http"
          },
          "http": {
            "method": "GET",
            "url": "{{baseUrl}}/v2/motion-commands"
          },
          "docs": "Returns available motion commands that can be sent to the Polymath system."
        },
        {
          "info": {
            "name": "Get all previously set reference targets",
            "type": "http"
          },
          "http": {
            "method": "GET",
            "url": "{{baseUrl}}/v2/reference-targets"
          },
          "docs": "Returns all previously set reference targets."
        },
        {
          "info": {
            "name": "Set the location and details of a reference location or an object",
            "type": "http"
          },
          "http": {
            "method": "POST",
            "url": "{{baseUrl}}/v2/reference-targets",
            "body": {
              "type": "json",
              "data": "{}"
            }
          },
          "docs": "Sets one or more reference targets for relative navigation. Each target may include optional `time_validity` and `recorded_speed_m_s` metadata. Use `POST /relative-waypoints` to send waypoints relative to these targets."
        },
        {
          "info": {
            "name": "Set a reference target at the current robot location",
            "type": "http"
          },
          "http": {
            "method": "POST",
            "url": "{{baseUrl}}/v2/reference-targets/current-location"
          },
          "docs": "Creates a `previous_location` reference target from the robot's current GPS pose for subsequent relative navigation."
        },
        {
          "info": {
            "name": "Send a set of gps waypoints to the robot",
            "type": "http"
          },
          "http": {
            "method": "POST",
            "url": "{{baseUrl}}/v2/gps-waypoints",
            "body": {
              "type": "json",
              "data": "{}"
            }
          },
          "docs": "Sends GPS waypoints and navigation options to the robot."
        },
        {
          "info": {
            "name": "Send a set of relative waypoints to the robot",
            "type": "http"
          },
          "http": {
            "method": "POST",
            "url": "{{baseUrl}}/v2/relative-waypoints",
            "body": {
              "type": "json",
              "data": "{}"
            }
          },
          "docs": "Sends relative waypoints and navigation options to the robot."
        },
        {
          "info": {
            "name": "Send a motion command to the robot to change its current state",
            "type": "http"
          },
          "http": {
            "method": "POST",
            "url": "{{baseUrl}}/v2/motion-command",
            "body": {
              "type": "json",
              "data": "{}"
            }
          },
          "docs": "Sends a motion command to change the robot motion state. Supported commands: `STOP` (0), `PAUSE` (1), and `RESUME` (2)."
        }
      ]
    }
  ],
  "bundled": true
}