Struct abbegm::msg::EgmSensor

pub struct EgmSensor {
    pub header: Option<EgmHeader>,
    pub planned: Option<EgmPlanned>,
    pub speed_ref: Option<EgmSpeedRef>,
}

Robot controller inbound message, sent from sensor to the controller during position guidance

Fields

header: Option<EgmHeader>

planned: Option<EgmPlanned>

speed_ref: Option<EgmSpeedRef>

Implementations

impl EgmSensor

pub fn joint_target(
    sequence_number: u32,
    joints: impl Into<EgmJoints>,
    time: impl Into<EgmClock>
) -> Self

Create a sensor message containing a joint space target.

The header timestamp is created from the time parameter.

pub fn joint_target_with_speed(
    sequence_number: u32,
    joints: impl Into<EgmJoints>,
    speed: impl Into<EgmJoints>,
    time: impl Into<EgmClock>
) -> Self

Create a sensor message containing a joint space target and a joint space speed reference.

The header timestamp is created from the time parameter.

pub fn pose_target(
    sequence_number: u32,
    pose: impl Into<EgmPose>,
    time: impl Into<EgmClock>
) -> Self

Create a sensor message containing a 6-DOF pose target.

The header timestamp is created from the time parameter.

pub fn pose_target_with_speed(
    sequence_number: u32,
    pose: impl Into<EgmPose>,
    speed: impl Into<EgmCartesianSpeed>,
    time: impl Into<EgmClock>
) -> Self

Create a sensor message containing a 6-DOF pose target with a cartesian speed reference.

The header timestamp is created from the time parameter.

pub fn has_nan(&self) -> bool

Check if any of the values are NaN.

Trait Implementations

impl Clone for EgmSensor

fn clone(&self) -> EgmSensor

Returns a copy of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for EgmSensor

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Default for EgmSensor

fn default() -> EgmSensor

Returns the "default value" for a type.

impl Message for EgmSensor

fn encode_raw<B>(&self, buf: &mut B) where
    B: BufMut, 

fn merge_field<B>(
    &mut self,
    tag: u32,
    wire_type: WireType,
    buf: &mut B,
    ctx: DecodeContext
) -> Result<(), DecodeError> where
    B: Buf, 

fn encoded_len(&self) -> usize

Returns the encoded length of the message without a length delimiter.

fn clear(&mut self)

Clears the message, resetting all fields to their default.

fn encode<B>(&self, buf: &mut B) -> Result<(), EncodeError> where
    B: BufMut, 

Encodes the message to a buffer.

fn encode_length_delimited<B>(&self, buf: &mut B) -> Result<(), EncodeError> where
    B: BufMut, 

Encodes the message with a length-delimiter to a buffer.

fn decode<B>(buf: B) -> Result<Self, DecodeError> where
    B: Buf,
    Self: Default, 

Decodes an instance of the message from a buffer.

fn decode_length_delimited<B>(buf: B) -> Result<Self, DecodeError> where
    B: Buf,
    Self: Default, 

Decodes a length-delimited instance of the message from the buffer.

fn merge<B>(&mut self, buf: B) -> Result<(), DecodeError> where
    B: Buf, 

Decodes an instance of the message from a buffer, and merges it into self.

fn merge_length_delimited<B>(&mut self, buf: B) -> Result<(), DecodeError> where
    B: Buf, 

Decodes a length-delimited instance of the message from buffer, and merges it into self.

impl PartialEq<EgmSensor> for EgmSensor

fn eq(&self, other: &EgmSensor) -> bool

This method tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &EgmSensor) -> bool

This method tests for !=.

impl StructuralPartialEq for EgmSensor