Trait arci::JointTrajectoryClient[−][src]

pub trait JointTrajectoryClient: Send + Sync {
    fn joint_names(&self) -> Vec<String>;

    fn current_joint_positions(&self) -> Result<Vec<f64>, Error>;

    fn send_joint_positions(
        &self, 
        positions: Vec<f64>, 
        duration: Duration
    ) -> Result<WaitFuture, Error>;

    fn send_joint_trajectory(
        &self, 
        trajectory: Vec<TrajectoryPoint>
    ) -> Result<WaitFuture, Error>;
}

Required methods

Returns names of joints that this client handles.

Returns the current joint positions.

Send the specified joint positions and returns a future that waits until complete the move joints.

Implementation

The returned future is expected to behave similarly to std::thread::JoinHandle and [tokio::task::JoinHandle]:

  • Can wait for the operation to complete by .await.
  • The operation does not end even if it is dropped.

If the operation may block the current thread for an extended period of time, consider spawning a thread to running blocking operations.

Send the specified joint trajectory and returns a future that waits until complete the move joints.

Implementation

See the “Implementation” section of the send_joint_positions method.

Implementations on Foreign Types

Implementors