Struct abbegm::msg::EgmRobot

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>,
}

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

impl EgmRobot

pub fn mci_convergence_met(&self) -> bool

Returns the value of mci_convergence_met, or the default value if mci_convergence_met is unset.

pub fn utilization_rate(&self) -> f64

Returns the value of utilization_rate, or the default value if utilization_rate is unset.

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>>

pub fn has_nan(&self) -> bool

Check if any of the values are NaN.

Trait Implementations

impl Clone for EgmRobot

fn clone(&self) -> EgmRobot

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for EgmRobot

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

Formats the value using the given formatter.

impl Default for EgmRobot

fn default() -> Self

Returns the “default value” for a type.

impl Message for EgmRobot

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_to_vec(&self) -> Vec<u8, Global>

Encodes the message to a newly allocated 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 encode_length_delimited_to_vec(&self) -> Vec<u8, Global>

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

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

Decodes an instance of the message from a buffer.

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

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<EgmRobot> for EgmRobot

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

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

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

This method tests for !=.

impl StructuralPartialEq for EgmRobot