Expand description
Stores joint-level torque commands without gravity and friction.
Fields
tau_J: [f64; 7]
Desired torques in [Nm].
Implementations
Trait Implementations
sourceimpl<'de> Deserialize<'de> for Torques
impl<'de> Deserialize<'de> for Torques
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 Torques
impl Finishable for Torques
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, U7, U1, <DefaultAllocator as Allocator<f64, U7, U1>>::Buffer>> for Torques
impl From<Matrix<f64, U7, U1, <DefaultAllocator as Allocator<f64, U7, U1>>::Buffer>> for Torques
impl Copy for Torques
Auto Trait Implementations
impl RefUnwindSafe for Torques
impl Send for Torques
impl Sync for Torques
impl Unpin for Torques
impl UnwindSafe for Torques
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