Enum TorqueSensorSide 

pub enum TorqueSensorSide {
    Link,
    Motor,
}

Side of the torque-sensing instrument.

KUKA LWR and DLR Rollin’ Justin instrument link-side torque directly. Franka Panda and UR10 measure motor-side current and reconstruct torque post-transmission. The side changes the noise floor and the residual’s expected amplitude, but not its structural grammar — DSFB treats both uniformly once the sample is in f64 newton-metres.

Variants

Link

Direct link-side torque sensing (e.g. KUKA LWR, DLR LWR-III).

Motor

Motor-side current × torque constant (e.g. Franka Panda, UR10).

Implementations

impl TorqueSensorSide

pub const fn label(self) -> &'static str

Stable label for logging / JSON emission.

Trait Implementations

impl Clone for TorqueSensorSide

fn clone(&self) -> TorqueSensorSide

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for TorqueSensorSide

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl PartialEq for TorqueSensorSide

fn eq(&self, other: &TorqueSensorSide) -> bool

Tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl Copy for TorqueSensorSide

impl Eq for TorqueSensorSide

impl StructuralPartialEq for TorqueSensorSide