Trait franka::robot::control_types::Finishable

source · [−]
pub trait Finishable {
    fn is_finished(&self) -> bool;

    fn set_motion_finished(&mut self, finished: bool);

    fn convert_motion(
        &self, 
        robot_state: &RobotState, 
        command: &mut MotionGeneratorCommand, 
        cutoff_frequency: f64, 
        limit_rate: bool
    );
}
Expand description

Helper type for control and motion generation loops.

Used to determine whether to terminate a loop after the control callback has returned.

Required methods

Determines whether to finish a currently running motion.

Sets the attribute which decide if the currently running motion should be finished

converts the motion type to a MotionGeneratorCommand and applies rate limiting and filtering

Implementors