Struct franka::robot::control_types::CartesianVelocities

pub struct CartesianVelocities {
    pub O_dP_EE: [f64; 6],
    pub elbow: Option<[f64; 2]>,
    // some fields omitted
}

Stores values for Cartesian velocity motion generation.

Fields

O_dP_EE: [f64; 6]

Desired Cartesian velocity w.r.t. O-frame {dx in [m/s], dy in [m/s], dz in [m/s], omegax in [rad/s], omegay in [rad/s], omegaz in [rad/s]}.

elbow: Option<[f64; 2]>

Elbow configuration.

If “None” the elbow will be controlled by the robot

The values of the array are:

• [0] Position of the 3rd joint in [rad].
• [1] Sign of the 4th joint. Can be +1 or -1.

Implementations

impl CartesianVelocities

pub fn new(cartesian_velocities: [f64; 6], elbow: Option<[f64; 2]>) -> Self

Creates a new CartesianVelocities instance.

Arguments

• cartesian_velocities - cartesian_velocities Desired Cartesian velocity w.r.t. O-frame {dx in [m/s], dy in

  • [m/s], dz in [m/s], omegax in [rad/s], omegay in [rad/s], omegaz in [rad/s]}.

• elbow - Elbow configuration. See elbow

pub fn has_elbow(&self) -> bool

Determines whether there is a stored elbow configuration.

Trait Implementations

impl Clone for CartesianVelocities

fn clone(&self) -> CartesianVelocities

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Copy for CartesianVelocities

impl Debug for CartesianVelocities

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

Formats the value using the given formatter.

impl<'de> Deserialize<'de> for CartesianVelocities

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

Deserialize this value from the given Serde deserializer.

impl Finishable for CartesianVelocities

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, U6, U1, <DefaultAllocator as Allocator<f64, U6, U1>>::Buffer>> for CartesianVelocities

fn from(vector: Vector6<f64>) -> Self

Performs the conversion.

impl Serialize for CartesianVelocities

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

Serialize this value into the given Serde serializer.