pub struct EgmRobot {
pub header: Option<EgmHeader>,
pub feed_back: Option<EgmFeedBack>,
pub planned: Option<EgmPlanned>,
pub motor_state: Option<EgmMotorState>,
pub mci_state: Option<EgmMciState>,
pub mci_convergence_met: Option<bool>,
pub test_signals: Option<EgmTestSignals>,
pub rapid_exec_state: Option<EgmRapidCtrlExecState>,
pub measured_force: Option<EgmMeasuredForce>,
pub utilization_rate: Option<f64>,
}
Expand description
Robot controller outbound message, sent from the controller to the sensor during position guidance and position streaming
Fields
header: Option<EgmHeader>
feed_back: Option<EgmFeedBack>
planned: Option<EgmPlanned>
motor_state: Option<EgmMotorState>
mci_state: Option<EgmMciState>
mci_convergence_met: Option<bool>
test_signals: Option<EgmTestSignals>
rapid_exec_state: Option<EgmRapidCtrlExecState>
measured_force: Option<EgmMeasuredForce>
utilization_rate: Option<f64>
Implementations
sourceimpl EgmRobot
impl EgmRobot
sourcepub fn mci_convergence_met(&self) -> bool
pub fn mci_convergence_met(&self) -> bool
Returns the value of mci_convergence_met
, or the default value if mci_convergence_met
is unset.
sourcepub fn utilization_rate(&self) -> f64
pub fn utilization_rate(&self) -> f64
Returns the value of utilization_rate
, or the default value if utilization_rate
is unset.
sourceimpl EgmRobot
impl EgmRobot
pub fn sequence_number(&self) -> Option<u32>
pub fn timestamp_ms(&self) -> Option<u32>
pub fn feedback_joints(&self) -> Option<&Vec<f64>>
pub fn feedback_pose(&self) -> Option<&EgmPose>
pub fn feedback_extenal_joints(&self) -> Option<&Vec<f64>>
pub fn feedback_time(&self) -> Option<EgmClock>
pub fn planned_joints(&self) -> Option<&Vec<f64>>
pub fn planned_pose(&self) -> Option<&EgmPose>
pub fn planned_extenal_joints(&self) -> Option<&Vec<f64>>
pub fn planned_time(&self) -> Option<EgmClock>
pub fn motors_enabled(&self) -> Option<bool>
pub fn rapid_running(&self) -> Option<bool>
pub fn test_signals(&self) -> Option<&Vec<f64>>
pub fn measured_force(&self) -> Option<&Vec<f64>>
Trait Implementations
sourceimpl Message for EgmRobot
impl Message for EgmRobot
sourcefn encoded_len(&self) -> usize
fn encoded_len(&self) -> usize
Returns the encoded length of the message without a length delimiter.
sourcefn encode<B>(&self, buf: &mut B) -> Result<(), EncodeError> where
B: BufMut,
fn encode<B>(&self, buf: &mut B) -> Result<(), EncodeError> where
B: BufMut,
Encodes the message to a buffer. Read more
sourcefn encode_to_vec(&self) -> Vec<u8, Global>
fn encode_to_vec(&self) -> Vec<u8, Global>
Encodes the message to a newly allocated buffer.
sourcefn encode_length_delimited<B>(&self, buf: &mut B) -> Result<(), EncodeError> where
B: BufMut,
fn encode_length_delimited<B>(&self, buf: &mut B) -> Result<(), EncodeError> where
B: BufMut,
Encodes the message with a length-delimiter to a buffer. Read more
sourcefn encode_length_delimited_to_vec(&self) -> Vec<u8, Global>
fn encode_length_delimited_to_vec(&self) -> Vec<u8, Global>
Encodes the message with a length-delimiter to a newly allocated buffer.
sourcefn decode<B>(buf: B) -> Result<Self, DecodeError> where
B: Buf,
Self: Default,
fn decode<B>(buf: B) -> Result<Self, DecodeError> where
B: Buf,
Self: Default,
Decodes an instance of the message from a buffer. Read more
sourcefn decode_length_delimited<B>(buf: B) -> Result<Self, DecodeError> where
B: Buf,
Self: Default,
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.
sourcefn merge<B>(&mut self, buf: B) -> Result<(), DecodeError> where
B: Buf,
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
. Read more
sourcefn merge_length_delimited<B>(&mut self, buf: B) -> Result<(), DecodeError> where
B: Buf,
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
. Read more
impl StructuralPartialEq for EgmRobot
Auto Trait Implementations
impl RefUnwindSafe for EgmRobot
impl Send for EgmRobot
impl Sync for EgmRobot
impl Unpin for EgmRobot
impl UnwindSafe for EgmRobot
Blanket Implementations
sourceimpl<T> BorrowMut<T> for T where
T: ?Sized,
impl<T> BorrowMut<T> for T where
T: ?Sized,
const: unstable · sourcefn borrow_mut(&mut self) -> &mut T
fn borrow_mut(&mut self) -> &mut T
Mutably borrows from an owned value. Read more