libhans 0.2.0

Rust bindings for the Hans robot
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35

#![feature(adt_const_params)]

mod hans;
mod network;
mod robot;
mod robot_error;
mod robot_impl;
mod robot_mode;
mod robot_param;
mod robot_state;
mod types;

#[cfg(feature = "ffi")]
mod ffi;

pub use hans::*;
pub use network::*;
pub use robot::HansRobot;
pub use robot_error::RobotError;
pub use robot_impl::{CommandSubmit, DispatchFn};
pub use robot_mode::RobotMode;
pub use robot_param::*;
pub use types::CommandSerde;

#[cfg(feature = "to_py")]
#[pyo3::pymodule]
mod libhans {
    #[pymodule_export]
    use super::ffi::to_py::PyHansS30;
    #[pymodule_export]
    use robot_behavior::{
        LoadState, PyArmState, PyJointSample, PyJointState, PyMotionType, PyPose, PySpatialSample,
        PySpatialState,
    };
}