Struct franka::robot::control_types::CartesianPose
source · [−]pub struct CartesianPose {
pub O_T_EE: [f64; 16],
pub elbow: Option<[f64; 2]>,
/* private fields */
}
Expand description
Stores values for Cartesian pose motion generation.
Fields
O_T_EE: [f64; 16]
Homogeneous transformation , column major, that transforms from
the end effector frame EE
to base frame O
.
Equivalently, it is the desired end effector pose in base frame.
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
sourceimpl CartesianPose
impl CartesianPose
sourcepub fn new(cartesian_pose: [f64; 16], elbow: Option<[f64; 2]>) -> Self
pub fn new(cartesian_pose: [f64; 16], elbow: Option<[f64; 2]>) -> Self
Creates a new CartesianPose instance.
Arguments
-
cartesian_pose
- Desired vectorized homogeneous transformation matrix , column major, that transforms from the end effector frameEE
to base frameO
. Equivalently, it is the desired end effector pose in base frame. -
elbow
- Elbow configuration. See elbow
sourcepub fn check_elbow(elbow: &[f64; 2])
pub fn check_elbow(elbow: &[f64; 2])
Determines whether the elbow configuration is valid and has finite values
Trait Implementations
sourceimpl Clone for CartesianPose
impl Clone for CartesianPose
sourcefn clone(&self) -> CartesianPose
fn clone(&self) -> CartesianPose
Returns a copy of the value. Read more
1.0.0 · sourcefn clone_from(&mut self, source: &Self)
fn clone_from(&mut self, source: &Self)
Performs copy-assignment from source
. Read more
sourceimpl Debug for CartesianPose
impl Debug for CartesianPose
sourceimpl<'de> Deserialize<'de> for CartesianPose
impl<'de> Deserialize<'de> for CartesianPose
sourcefn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error> where
__D: Deserializer<'de>,
fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error> where
__D: Deserializer<'de>,
Deserialize this value from the given Serde deserializer. Read more
sourceimpl Finishable for CartesianPose
impl Finishable for CartesianPose
sourcefn is_finished(&self) -> bool
fn is_finished(&self) -> bool
Determines whether to finish a currently running motion.
sourcefn set_motion_finished(&mut self, finished: bool)
fn set_motion_finished(&mut self, finished: bool)
Sets the attribute which decide if the currently running motion should be finished
sourcefn convert_motion(
&self,
robot_state: &RobotState,
command: &mut MotionGeneratorCommand,
cutoff_frequency: f64,
limit_rate: bool
)
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
sourceimpl From<Isometry<f64, U3, Unit<Quaternion<f64>>>> for CartesianPose
impl From<Isometry<f64, U3, Unit<Quaternion<f64>>>> for CartesianPose
sourceimpl Serialize for CartesianPose
impl Serialize for CartesianPose
impl Copy for CartesianPose
Auto Trait Implementations
impl RefUnwindSafe for CartesianPose
impl Send for CartesianPose
impl Sync for CartesianPose
impl Unpin for CartesianPose
impl UnwindSafe for CartesianPose
Blanket Implementations
sourceimpl<T> BorrowMut<T> for T where
T: ?Sized,
impl<T> BorrowMut<T> for T where
T: ?Sized,
const: unstable · sourcefn borrow_mut(&mut self) -> &mut T
fn borrow_mut(&mut self) -> &mut T
Mutably borrows from an owned value. Read more
sourceimpl<T> MotionFinished for T where
T: Finishable + Copy,
impl<T> MotionFinished for T where
T: Finishable + Copy,
sourcefn motion_finished(self) -> T
fn motion_finished(self) -> T
Helper method to indicate that a motion should stop after processing the given command.
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
fn to_subset(&self) -> Option<SS>
fn to_subset(&self) -> Option<SS>
The inverse inclusion map: attempts to construct self
from the equivalent element of its
superset. Read more
fn is_in_subset(&self) -> bool
fn is_in_subset(&self) -> bool
Checks if self
is actually part of its subset T
(and can be converted to it).
fn to_subset_unchecked(&self) -> SS
fn to_subset_unchecked(&self) -> SS
Use with care! Same as self.to_subset
but without any property checks. Always succeeds.
fn from_subset(element: &SS) -> SP
fn from_subset(element: &SS) -> SP
The inclusion map: converts self
to the equivalent element of its superset.
sourceimpl<T> ToOwned for T where
T: Clone,
impl<T> ToOwned for T where
T: Clone,
type Owned = T
type Owned = T
The resulting type after obtaining ownership.
sourcefn clone_into(&self, target: &mut T)
fn clone_into(&self, target: &mut T)
toowned_clone_into
)Uses borrowed data to replace owned data, usually by cloning. Read more