Enum franka::robot::error::FrankaError

#[repr(u64)]
pub enum FrankaError {
    kJointPositionLimitsViolation,
    kCartesianPositionLimitsViolation,
    kSelfcollisionAvoidanceViolation,
    kJointVelocityViolation,
    kCartesianVelocityViolation,
    kForceControlSafetyViolation,
    kJointReflex,
    kCartesianReflex,
    kMaxGoalPoseDeviationViolation,
    kMaxPathPoseDeviationViolation,
    kCartesianVelocityProfileSafetyViolation,
    kJointPositionMotionGeneratorStartPoseInvalid,
    kJointMotionGeneratorPositionLimitsViolation,
    kJointMotionGeneratorVelocityLimitsViolation,
    kJointMotionGeneratorVelocityDiscontinuity,
    kJointMotionGeneratorAccelerationDiscontinuity,
    kCartesianPositionMotionGeneratorStartPoseInvalid,
    kCartesianMotionGeneratorElbowLimitViolation,
    kCartesianMotionGeneratorVelocityLimitsViolation,
    kCartesianMotionGeneratorVelocityDiscontinuity,
    kCartesianMotionGeneratorAccelerationDiscontinuity,
    kCartesianMotionGeneratorElbowSignInconsistent,
    kCartesianMotionGeneratorStartElbowInvalid,
    kForceControllerDesiredForceToleranceViolation,
    kStartElbowSignInconsistent,
    kCommunicationConstraintsViolation,
    kPowerLimitViolation,
    kCartesianMotionGeneratorJointPositionLimitsViolation,
    kCartesianMotionGeneratorJointVelocityLimitsViolation,
    kCartesianMotionGeneratorJointVelocityDiscontinuity,
    kCartesianMotionGeneratorJointAccelerationDiscontinuity,
    kCartesianPositionMotionGeneratorInvalidFrame,
    kControllerTorqueDiscontinuity,
    kJointP2PInsufficientTorqueForPlanning,
    kTauJRangeViolation,
    kInstabilityDetection,
    kJointMoveInWrongDirection,
}

Controlling errors of the robot.

Variants

kJointPositionLimitsViolation

The robot moved past the joint limits.

kCartesianPositionLimitsViolation

The robot moved past any of the virtual walls.

kSelfcollisionAvoidanceViolation

The robot would have collided with itself

kJointVelocityViolation

The robot exceeded joint velocity limits.

kCartesianVelocityViolation

The robot exceeded Cartesian velocity limits.

kForceControlSafetyViolation

The robot exceeded safety threshold during force control.

kJointReflex

A collision was detected, i.e.\ the robot exceeded a torque threshold in a joint motion.

kCartesianReflex

A collision was detected, i.e.\ the robot exceeded a torque threshold in a Cartesian motion.

kMaxGoalPoseDeviationViolation

Internal motion generator did not reach the goal pose.

kMaxPathPoseDeviationViolation

True if internal motion generator deviated from the path.

kCartesianVelocityProfileSafetyViolation

Cartesian velocity profile for internal motions was exceeded.

kJointPositionMotionGeneratorStartPoseInvalid

An external joint position motion generator was started with a pose too far from the current pose.

kJointMotionGeneratorPositionLimitsViolation

An external joint motion generator would move into a joint limit.

kJointMotionGeneratorVelocityLimitsViolation

An external joint motion generator exceeded velocity limits.

kJointMotionGeneratorVelocityDiscontinuity

Commanded velocity in joint motion generators is discontinuous (target values are too far apart).

kJointMotionGeneratorAccelerationDiscontinuity

Commanded acceleration in joint motion generators is discontinuous (target values are too far apart).

kCartesianPositionMotionGeneratorStartPoseInvalid

An external Cartesian position motion generator was started with a pose too far from the current pose.

kCartesianMotionGeneratorElbowLimitViolation

An external Cartesian motion generator would move into an elbow limit.

kCartesianMotionGeneratorVelocityLimitsViolation

An external Cartesian motion generator would move with too high velocity.

kCartesianMotionGeneratorVelocityDiscontinuity

Commanded velocity in Cartesian motion generators is discontinuous (target values are too far apart).

kCartesianMotionGeneratorAccelerationDiscontinuity

Commanded acceleration in Cartesian motion generators is discontinuous (target values are too far apart).

kCartesianMotionGeneratorElbowSignInconsistent

Commanded elbow values in Cartesian motion generators are inconsistent.

kCartesianMotionGeneratorStartElbowInvalid

The first elbow value in Cartesian motion generators is too far from initial one.

kForceControllerDesiredForceToleranceViolation

The torque set by the external controller is discontinuous.

kStartElbowSignInconsistent

The start elbow sign was inconsistent. Applies only to motions started from Desk.

kCommunicationConstraintsViolation

Minimum network communication quality could not be held during a motion.

kPowerLimitViolation

Commanded values would result in exceeding the power limit.

kCartesianMotionGeneratorJointPositionLimitsViolation

The joint position limits would be exceeded after IK calculation.

kCartesianMotionGeneratorJointVelocityLimitsViolation

The joint velocity limits would be exceeded after IK calculation.

kCartesianMotionGeneratorJointVelocityDiscontinuity

The joint velocity in Cartesian motion generators is discontinuous after IK calculation

kCartesianMotionGeneratorJointAccelerationDiscontinuity

The joint acceleration in Cartesian motion generators is discontinuous after IK calculation.

kCartesianPositionMotionGeneratorInvalidFrame

Cartesian pose is not a valid transformation matrix.

kControllerTorqueDiscontinuity

The torque set by the external controller is discontinuous.

kJointP2PInsufficientTorqueForPlanning

The robot is overloaded for the required motion.

Applies only to motions started from Desk.

kTauJRangeViolation

The measured torque signal is out of the safe range.

kInstabilityDetection

An instability is detected.

kJointMoveInWrongDirection

The robot is in joint position limits violation error and the user guides the robot further towards the limit.

Trait Implementations

impl Clone for FrankaError

fn clone(&self) -> FrankaError

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Copy for FrankaError

impl Debug for FrankaError

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

Formats the value using the given formatter.

impl<'de> Deserialize<'de> for FrankaError

fn deserialize<D>(deserializer: D) -> Result<Self, D::Error> where
    D: Deserializer<'de>, 

Deserialize this value from the given Serde deserializer.

impl Display for FrankaError

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

Formats the value using the given formatter.

impl FromPrimitive for FrankaError

fn from_i64(n: i64) -> Option<Self>

Converts an i64 to return an optional value of this type. If the value cannot be represented by this type, then None is returned.

fn from_u64(n: u64) -> Option<Self>

Converts an u64 to return an optional value of this type. If the value cannot be represented by this type, then None is returned.

pub fn from_isize(n: isize) -> Option<Self>

Converts an isize to return an optional value of this type. If the value cannot be represented by this type, then None is returned.

pub fn from_i8(n: i8) -> Option<Self>

Converts an i8 to return an optional value of this type. If the value cannot be represented by this type, then None is returned.

pub fn from_i16(n: i16) -> Option<Self>

Converts an i16 to return an optional value of this type. If the value cannot be represented by this type, then None is returned.

pub fn from_i32(n: i32) -> Option<Self>

Converts an i32 to return an optional value of this type. If the value cannot be represented by this type, then None is returned.

pub fn from_i128(n: i128) -> Option<Self>

Converts an i128 to return an optional value of this type. If the value cannot be represented by this type, then None is returned.

pub fn from_usize(n: usize) -> Option<Self>

Converts a usize to return an optional value of this type. If the value cannot be represented by this type, then None is returned.

pub fn from_u8(n: u8) -> Option<Self>

Converts an u8 to return an optional value of this type. If the value cannot be represented by this type, then None is returned.

pub fn from_u16(n: u16) -> Option<Self>

Converts an u16 to return an optional value of this type. If the value cannot be represented by this type, then None is returned.

pub fn from_u32(n: u32) -> Option<Self>

Converts an u32 to return an optional value of this type. If the value cannot be represented by this type, then None is returned.

pub fn from_u128(n: u128) -> Option<Self>

Converts an u128 to return an optional value of this type. If the value cannot be represented by this type, then None is returned.

pub fn from_f32(n: f32) -> Option<Self>

Converts a f32 to return an optional value of this type. If the value cannot be represented by this type, then None is returned.

pub fn from_f64(n: f64) -> Option<Self>

Converts a f64 to return an optional value of this type. If the value cannot be represented by this type, then None is returned.

impl PartialEq<FrankaError> for FrankaError

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

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

#[must_use]

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

This method tests for !=.

impl Serialize for FrankaError

fn serialize<S>(&self, serializer: S) -> Result<S::Ok, S::Error> where
    S: Serializer, 

Serialize this value into the given Serde serializer.

impl StructuralPartialEq for FrankaError

impl ToPrimitive for FrankaError

fn to_i64(&self) -> Option<i64>

Converts the value of self to an i64. If the value cannot be represented by an i64, then None is returned.

fn to_u64(&self) -> Option<u64>

Converts the value of self to a u64. If the value cannot be represented by a u64, then None is returned.

pub fn to_isize(&self) -> Option<isize>

Converts the value of self to an isize. If the value cannot be represented by an isize, then None is returned.

pub fn to_i8(&self) -> Option<i8>

Converts the value of self to an i8. If the value cannot be represented by an i8, then None is returned.

pub fn to_i16(&self) -> Option<i16>

Converts the value of self to an i16. If the value cannot be represented by an i16, then None is returned.

pub fn to_i32(&self) -> Option<i32>

Converts the value of self to an i32. If the value cannot be represented by an i32, then None is returned.

pub fn to_i128(&self) -> Option<i128>

Converts the value of self to an i128. If the value cannot be represented by an i128 (i64 under the default implementation), then None is returned.

pub fn to_usize(&self) -> Option<usize>

Converts the value of self to a usize. If the value cannot be represented by a usize, then None is returned.

pub fn to_u8(&self) -> Option<u8>

Converts the value of self to a u8. If the value cannot be represented by a u8, then None is returned.

pub fn to_u16(&self) -> Option<u16>

Converts the value of self to a u16. If the value cannot be represented by a u16, then None is returned.

pub fn to_u32(&self) -> Option<u32>

Converts the value of self to a u32. If the value cannot be represented by a u32, then None is returned.

pub fn to_u128(&self) -> Option<u128>

Converts the value of self to a u128. If the value cannot be represented by a u128 (u64 under the default implementation), then None is returned.

pub fn to_f32(&self) -> Option<f32>

Converts the value of self to an f32. Overflows may map to positive or negative inifinity, otherwise None is returned if the value cannot be represented by an f32.

pub fn to_f64(&self) -> Option<f64>

Converts the value of self to an f64. Overflows may map to positive or negative inifinity, otherwise None is returned if the value cannot be represented by an f64.