Struct 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 duplicate 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() -> Self

Returns the “default value” for a type.

impl Message for EgmSensor

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(&self, buf: &mut impl BufMut) -> Result<(), EncodeError>

where Self: Sized,

Encodes the message to a buffer.

fn encode_to_vec(&self) -> Vec<u8>

where Self: Sized,

Encodes the message to a newly allocated buffer.

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

where Self: Sized,

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

fn encode_length_delimited_to_vec(&self) -> Vec<u8>

where Self: Sized,

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

fn decode(buf: impl Buf) -> Result<Self, DecodeError>

where Self: Default,

Decodes an instance of the message from a buffer.

fn decode_length_delimited(buf: impl Buf) -> Result<Self, DecodeError>

where Self: Default,

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

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

where Self: Sized,

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

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

where Self: Sized,

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

impl PartialEq for EgmSensor

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

Equality operator ==.

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

Inequality operator !=.

impl StructuralPartialEq for EgmSensor