Struct arci::JointVelocityLimiter [−][src]
pub struct JointVelocityLimiter<C> where
C: JointTrajectoryClient, { /* fields omitted */ }
Expand description
JointVelocityLimiter limits the duration to make all joints velocities lower than the given velocities limits at each TrajectoryPoint.
It does not change TrajectoryPoint velocities. The duration for a TrajectoryPoint[i] is set to
duration[i] = max(limited_duration_i[j=0], ..., limited_duration_i[j=J-1], input_duration[i])
where
j : joint_index (0 <= j < J),
limited_duration_i[j] =
abs(TrajectoryPoint[i].positions[j] - TrajectoryPoint[i-1].positions[j]) / velocity_limits[j]
Implementations
Creates a new JointVelocityLimiter
with the given velocity limits.
Panics
Panics if the lengths of velocity_limits
and joints that client
handles are different.
Trait Implementations
Returns names of joints that this client handles.
Returns the current joint positions.
fn send_joint_positions(
&self,
positions: Vec<f64>,
duration: Duration
) -> Result<WaitFuture, Error>
fn send_joint_positions(
&self,
positions: Vec<f64>,
duration: Duration
) -> Result<WaitFuture, Error>
Send the specified joint positions and returns a future that waits until complete the move joints. Read more
fn send_joint_trajectory(
&self,
trajectory: Vec<TrajectoryPoint>
) -> Result<WaitFuture, Error>
fn send_joint_trajectory(
&self,
trajectory: Vec<TrajectoryPoint>
) -> Result<WaitFuture, Error>
Send the specified joint trajectory and returns a future that waits until complete the move joints. Read more
Auto Trait Implementations
impl<C> RefUnwindSafe for JointVelocityLimiter<C> where
C: RefUnwindSafe,
impl<C> Send for JointVelocityLimiter<C>
impl<C> Sync for JointVelocityLimiter<C>
impl<C> Unpin for JointVelocityLimiter<C> where
C: Unpin,
impl<C> UnwindSafe for JointVelocityLimiter<C> where
C: UnwindSafe,
Blanket Implementations
Mutably borrows from an owned value. Read more
Instruments this type with the provided Span
, returning an
Instrumented
wrapper. Read more
type Output = T
type Output = T
Should always be Self
The inverse inclusion map: attempts to construct self
from the equivalent element of its
superset. Read more
pub fn is_in_subset(&self) -> bool
pub fn is_in_subset(&self) -> bool
Checks if self
is actually part of its subset T
(and can be converted to it).
pub fn to_subset_unchecked(&self) -> SS
pub fn to_subset_unchecked(&self) -> SS
Use with care! Same as self.to_subset
but without any property checks. Always succeeds.
pub fn from_subset(element: &SS) -> SP
pub fn from_subset(element: &SS) -> SP
The inclusion map: converts self
to the equivalent element of its superset.