Struct franka::robot::control_types::CartesianVelocities
source · [−]pub struct CartesianVelocities {
pub O_dP_EE: [f64; 6],
pub elbow: Option<[f64; 2]>,
/* private fields */
}
Expand description
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
Trait Implementations
sourceimpl Clone for CartesianVelocities
impl Clone for CartesianVelocities
sourcefn clone(&self) -> CartesianVelocities
fn clone(&self) -> CartesianVelocities
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 CartesianVelocities
impl Debug for CartesianVelocities
sourceimpl<'de> Deserialize<'de> for CartesianVelocities
impl<'de> Deserialize<'de> for CartesianVelocities
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 CartesianVelocities
impl Finishable for CartesianVelocities
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<Matrix<f64, U6, U1, <DefaultAllocator as Allocator<f64, U6, U1>>::Buffer>> for CartesianVelocities
impl From<Matrix<f64, U6, U1, <DefaultAllocator as Allocator<f64, U6, U1>>::Buffer>> for CartesianVelocities
sourceimpl Serialize for CartesianVelocities
impl Serialize for CartesianVelocities
impl Copy for CartesianVelocities
Auto Trait Implementations
impl RefUnwindSafe for CartesianVelocities
impl Send for CartesianVelocities
impl Sync for CartesianVelocities
impl Unpin for CartesianVelocities
impl UnwindSafe for CartesianVelocities
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