Struct franka::utils::MotionGenerator[−][src]

pub struct MotionGenerator { /* fields omitted */ }

An example showing how to generate a joint pose motion to a goal position. Adapted from: Wisama Khalil and Etienne Dombre. 2002. Modeling, Identification and Control of Robots (Kogan Page Science Paper edition).

Implementations

`impl MotionGenerator`[src]

`pub fn new(speed_factor: f64, q_goal: &[f64; 7]) -> Self`[src]

Creates a new MotionGenerator instance for a target q.

Arguments

speed_factor - General speed factor in range [0, 1].
q_goal - Target joint positions.

`pub fn generate_motion( &mut self, robot_state: &RobotState, period: &Duration ) -> JointPositions`[src]

Sends joint position calculations

Arguments

robot_state - Current state of the robot. period - Duration of execution.

Return

Joint positions for use inside a control loop.

Trait Implementations

`impl Debug for MotionGenerator`[src]

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

Auto Trait Implementations

`impl RefUnwindSafe for MotionGenerator`

`impl Send for MotionGenerator`

`impl Sync for MotionGenerator`

`impl Unpin for MotionGenerator`

`impl UnwindSafe for MotionGenerator`

Blanket Implementations

`impl<T> Any for T where T: 'static + ?Sized,` [src]

`pub fn type_id(&self) -> TypeId`[src]

`impl<T> Borrow<T> for T where T: ?Sized,` [src]

`pub fn borrow(&self) -> &T`[src]

`impl<T> BorrowMut<T> for T where T: ?Sized,` [src]

`pub fn borrow_mut(&mut self) -> &mut T`[src]

`impl<T> From<T> for T`[src]

`pub fn from(t: T) -> T`[src]

`impl<T, U> Into for T where U: From<T>,` [src]

`pub fn into(self) -> U`[src]

`impl<T> Same<T> for T`

`type Output = T`

Should always be Self

`impl<SS, SP> SupersetOf<SS> for SP where SS: SubsetOf<SP>,`

`pub fn to_subset(&self) -> Option<SS>`

`pub fn is_in_subset(&self) -> bool`

`pub fn to_subset_unchecked(&self) -> SS`

`pub fn from_subset(element: &SS) -> SP`

`impl<T, U> TryFrom for T where U: Into<T>,` [src]

`type Error = Infallible`

The type returned in the event of a conversion error.

`pub fn try_from(value: U) -> Result<T, <T as TryFrom>::Error>`[src]

`impl<T, U> TryInto for T where U: TryFrom<T>,` [src]

`type Error = >::Error`

The type returned in the event of a conversion error.

`pub fn try_into(self) -> Result<U, >::Error>`[src]

`impl<V, T> VZip<V> for T where V: MultiLane<T>,`

`pub fn vzip(self) -> V`

Struct franka::utils::MotionGenerator⎘[−][src]

Implementations

impl MotionGenerator[src]

pub fn new(speed_factor: f64, q_goal: &[f64; 7]) -> Self[src]

Arguments

pub fn generate_motion( &mut self, robot_state: &RobotState, period: &Duration) -> JointPositions[src]

Arguments

Return

Trait Implementations

impl Debug for MotionGenerator[src]

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

Auto Trait Implementations

impl RefUnwindSafe for MotionGenerator

impl Send for MotionGenerator

impl Sync for MotionGenerator

impl Unpin for MotionGenerator

impl UnwindSafe for MotionGenerator

Blanket Implementations

impl<T> Any for T where T: 'static + ?Sized, [src]

pub fn type_id(&self) -> TypeId[src]

impl<T> Borrow<T> for T where T: ?Sized, [src]

pub fn borrow(&self) -> &T[src]

impl<T> BorrowMut<T> for T where T: ?Sized, [src]

pub fn borrow_mut(&mut self) -> &mut T[src]

impl<T> From<T> for T[src]

pub fn from(t: T) -> T[src]

impl<T, U> Into<U> for T where U: From<T>, [src]

pub fn into(self) -> U[src]

impl<T> Same<T> for T

type Output = T

impl<SS, SP> SupersetOf<SS> for SP where SS: SubsetOf<SP>,

pub fn to_subset(&self) -> Option<SS>

pub fn is_in_subset(&self) -> bool

pub fn to_subset_unchecked(&self) -> SS

pub fn from_subset(element: &SS) -> SP

impl<T, U> TryFrom<U> for T where U: Into<T>, [src]

type Error = Infallible

pub fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>[src]

impl<T, U> TryInto<U> for T where U: TryFrom<T>, [src]

type Error = <U as TryFrom<T>>::Error

pub fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>[src]

impl<V, T> VZip<V> for T where V: MultiLane<T>,

pub fn vzip(self) -> V

Struct franka::utils::MotionGenerator[−][src]

`impl MotionGenerator`[src]

`pub fn new(speed_factor: f64, q_goal: &[f64; 7]) -> Self`[src]

`pub fn generate_motion( &mut self, robot_state: &RobotState, period: &Duration ) -> JointPositions`[src]

`impl Debug for MotionGenerator`[src]

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

`impl RefUnwindSafe for MotionGenerator`

`impl Send for MotionGenerator`

`impl Sync for MotionGenerator`

`impl Unpin for MotionGenerator`

`impl UnwindSafe for MotionGenerator`

`impl<T> Any for T where T: 'static + ?Sized,` [src]

`pub fn type_id(&self) -> TypeId`[src]

`impl<T> Borrow<T> for T where T: ?Sized,` [src]

`pub fn borrow(&self) -> &T`[src]

`impl<T> BorrowMut<T> for T where T: ?Sized,` [src]

`pub fn borrow_mut(&mut self) -> &mut T`[src]

`impl<T> From<T> for T`[src]

`pub fn from(t: T) -> T`[src]

`impl<T, U> Into<U> for T where U: From<T>,` [src]

`pub fn into(self) -> U`[src]

`impl<T> Same<T> for T`

`type Output = T`

`impl<SS, SP> SupersetOf<SS> for SP where SS: SubsetOf<SP>,`

`pub fn to_subset(&self) -> Option<SS>`

`pub fn is_in_subset(&self) -> bool`

`pub fn to_subset_unchecked(&self) -> SS`

`pub fn from_subset(element: &SS) -> SP`

`impl<T, U> TryFrom<U> for T where U: Into<T>,` [src]

`type Error = Infallible`

`pub fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>`[src]

`impl<T, U> TryInto<U> for T where U: TryFrom<T>,` [src]

`type Error = <U as TryFrom<T>>::Error`

`pub fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>`[src]

`impl<V, T> VZip<V> for T where V: MultiLane<T>,`

`pub fn vzip(self) -> V`