Struct franka::robot::control_types::JointPositions

pub struct JointPositions {
    pub q: [f64; 7],
    // some fields omitted
}

Stores values for joint position motion generation.

Fields

q: [f64; 7]

Desired joint angles in [rad].

Implementations

impl JointPositions

pub fn new(joint_positions: [f64; 7]) -> Self

Creates a new JointPositions instance.

Arguments

• joint_positions - Desired joint angles in [rad].

Trait Implementations

impl Clone for JointPositions

fn clone(&self) -> JointPositions

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Copy for JointPositions

impl Debug for JointPositions

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

Formats the value using the given formatter.

impl<'de> Deserialize<'de> for JointPositions

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

Deserialize this value from the given Serde deserializer.

impl Finishable for JointPositions

fn is_finished(&self) -> bool

Determines whether to finish a currently running motion.

fn set_motion_finished(&mut self, finished: bool)

Sets the attribute which decide if the currently running motion should be finished

fn convert_motion(
    &self,
    robot_state: &RobotState,
    command: &mut MotionGeneratorCommand,
    cutoff_frequency: f64,
    limit_rate: bool
)

converts the motion type to a MotionGeneratorCommand and applies rate limiting and filtering

impl From<Matrix<f64, U7, U1, <DefaultAllocator as Allocator<f64, U7, U1>>::Buffer>> for JointPositions

fn from(vector: Vector7) -> Self

Performs the conversion.

impl Serialize for JointPositions

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

Serialize this value into the given Serde serializer.