Enum rubullet::ControlMode[−][src]

pub enum ControlMode {
    Position(f64),
    PositionWithPd {
        target_position: f64,
        target_velocity: f64,
        position_gain: f64,
        velocity_gain: f64,
        maximum_velocity: Option<f64>,
    },
    Velocity(f64),
    Torque(f64),
    Pd {
        target_position: f64,
        target_velocity: f64,
        position_gain: f64,
        velocity_gain: f64,
        maximum_velocity: Option<f64>,
    },
}

The Control Mode specifies how the robot should move (Position Control, Velocity Control, Torque Control) Each Control Mode has its own set of Parameters. The Position mode for example takes a desired joint position as input. It can be used in set_joint_motor_control()

Mode	Implementation	Component	Constraint error to be minimized
Position,PositionWithPd	constraint	velocity and position constraint	error = position_gain(desired_position-actual_position)+velocity_gain(desired_velocity-actual_velocity)
Velocity	constraint	pure velocity constraint	error = desired_velocity - actual_velocity
Torque	External Force
Pd	???	???	???

Variants

Position(f64)

Position Control with the desired joint position.

PositionWithPd

Same as Position, but you can set your own gains

Fields of PositionWithPd

target_position: f64

desired target position

target_velocity: f64

desired target velocity

position_gain: f64

position gain

velocity_gain: f64

velocity gain

maximum_velocity: Option<f64>

limits the velocity of a joint

Velocity(f64)

Velocity control with the desired joint velocity

Torque(f64)

Torque control with the desired joint torque.

Pd

PD Control

Fields of Pd

target_position: f64

desired target position

target_velocity: f64

desired target velocity

position_gain: f64

position gain

velocity_gain: f64

velocity gain

maximum_velocity: Option<f64>

limits the velocity of a joint

Auto Trait Implementations

`impl RefUnwindSafe for ControlMode`

`impl Send for ControlMode`

`impl Sync for ControlMode`

`impl Unpin for ControlMode`

`impl UnwindSafe for ControlMode`

Blanket Implementations

`impl<T> Any for T where T: 'static + ?Sized,` [src]

`pub fn type_id(&self) -> TypeId`[src]

`impl<T> Borrow<T> for T where T: ?Sized,` [src]

`pub fn borrow(&self) -> &T`[src]

`impl<T> BorrowMut<T> for T where T: ?Sized,` [src]

`pub fn borrow_mut(&mut self) -> &mut T`[src]

`impl<T> From<T> for T`[src]

`pub fn from(t: T) -> T`[src]

`impl<T, U> Into for T where U: From<T>,` [src]

`pub fn into(self) -> U`[src]

`impl<T> Pointable for T`

`pub const ALIGN: usize`

`type Init = T`

The type for initializers.

`pub unsafe fn init(init: <T as Pointable>::Init) -> usize`

`pub unsafe fn deref<'a>(ptr: usize) -> &'a T`

`pub unsafe fn deref_mut<'a>(ptr: usize) -> &'a mut T`

`pub unsafe fn drop(ptr: usize)`

`impl<T> Same<T> for T`

`type Output = T`

Should always be Self

`impl<SS, SP> SupersetOf<SS> for SP where SS: SubsetOf<SP>,`

`pub fn to_subset(&self) -> Option<SS>`

`pub fn is_in_subset(&self) -> bool`

`pub fn to_subset_unchecked(&self) -> SS`

`pub fn from_subset(element: &SS) -> SP`

`impl<T, U> TryFrom for T where U: Into<T>,` [src]

`type Error = Infallible`

The type returned in the event of a conversion error.

`pub fn try_from(value: U) -> Result<T, <T as TryFrom>::Error>`[src]

`impl<T, U> TryInto for T where U: TryFrom<T>,` [src]

`type Error = >::Error`

The type returned in the event of a conversion error.

Enum rubullet::ControlMode[−][src]

Variants

Fields of PositionWithPd

Fields of Pd

Auto Trait Implementations

impl RefUnwindSafe for ControlMode

impl Send for ControlMode

impl Sync for ControlMode

impl Unpin for ControlMode

impl UnwindSafe for ControlMode

Blanket Implementations

impl<T> Any for T where T: 'static + ?Sized, [src]

pub fn type_id(&self) -> TypeId[src]

impl<T> Borrow<T> for T where T: ?Sized, [src]

pub fn borrow(&self) -> &T[src]

impl<T> BorrowMut<T> for T where T: ?Sized, [src]

pub fn borrow_mut(&mut self) -> &mut T[src]

impl<T> From<T> for T[src]

pub fn from(t: T) -> T[src]

impl<T, U> Into<U> for T where U: From<T>, [src]

pub fn into(self) -> U[src]

impl<T> Pointable for T

pub const ALIGN: usize

type Init = T

pub unsafe fn init(init: <T as Pointable>::Init) -> usize

pub unsafe fn deref<'a>(ptr: usize) -> &'a T

pub unsafe fn deref_mut<'a>(ptr: usize) -> &'a mut T

pub unsafe fn drop(ptr: usize)

impl<T> Same<T> for T

type Output = T

impl<SS, SP> SupersetOf<SS> for SP where SS: SubsetOf<SP>,

pub fn to_subset(&self) -> Option<SS>

pub fn is_in_subset(&self) -> bool

pub fn to_subset_unchecked(&self) -> SS

pub fn from_subset(element: &SS) -> SP

impl<T, U> TryFrom<U> for T where U: Into<T>, [src]

type Error = Infallible

pub fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>[src]

impl<T, U> TryInto<U> for T where U: TryFrom<T>, [src]

type Error = <U as TryFrom<T>>::Error

pub fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>[src]

impl<V, T> VZip<V> for T where V: MultiLane<T>,

pub fn vzip(self) -> V