pub struct RobotState {Show 14 fields
pub joint_positions_d: Vector7,
pub joint_positions: Vector7,
pub joint_velocities: Vector7,
pub joint_velocities_d: Vector7,
pub joint_torques: Vector7,
pub end_effector_pose_c: Isometry3<f64>,
pub end_effector_pose: Isometry3<f64>,
pub end_effector_pose_d: Isometry3<f64>,
pub end_effector_velocity_d: Vector6<f64>,
pub jacobian: Matrix6x7,
pub mass_matrix: Matrix7,
pub coriolis: Vector7,
pub gravity: Vector7,
pub control_command_success_rate: f64,
}Expand description
Describes the State of the Robot at a certain point in time.
Fields§
§joint_positions_d: Vector7desired join positions
joint_positions: Vector7measured joint positions
joint_velocities: Vector7measured joint velocities
joint_velocities_d: Vector7desired joint velocities
joint_torques: Vector7measured joint torques
end_effector_pose_c: Isometry3<f64>command end-effector pose. Use it cartesian pose control
end_effector_pose: Isometry3<f64>measured end-effector pose.
end_effector_pose_d: Isometry3<f64>desired end-effector pose
end_effector_velocity_d: Vector6<f64>desired end-effector velocity (linear,angular)
jacobian: Matrix6x7Jacobian at the current configuration
mass_matrix: Matrix7Mass matrix at the current configuration
coriolis: Vector7Coriolis torques at the current configuration
gravity: Vector7Gravity torques at the current configuration
control_command_success_rate: f64Percentage of the last 100 robot commands that the robot successfully received
Trait Implementations§
Source§impl Debug for RobotState
impl Debug for RobotState
Source§impl From<RobotState> for RobotState
impl From<RobotState> for RobotState
Source§fn from(state: RobotState) -> Self
fn from(state: RobotState) -> Self
Converts to this type from the input type.
Auto Trait Implementations§
impl Freeze for RobotState
impl RefUnwindSafe for RobotState
impl Send for RobotState
impl Sync for RobotState
impl Unpin for RobotState
impl UnwindSafe for RobotState
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T: ?Sized,
impl<T> BorrowMut<T> for Twhere
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Mutably borrows from an owned value. Read more
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impl<T> IntoEither for T
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fn into_either(self, into_left: bool) -> Either<Self, Self>
Converts
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if into_left is true.
Converts self into a Right variant of Either<Self, Self>
otherwise. Read moreSource§fn into_either_with<F>(self, into_left: F) -> Either<Self, Self>
fn into_either_with<F>(self, into_left: F) -> Either<Self, Self>
Converts
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if into_left(&self) returns true.
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impl<SS, SP> SupersetOf<SS> for SPwhere
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fn to_subset(&self) -> Option<SS>
The inverse inclusion map: attempts to construct
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Checks if
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Use with care! Same as
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fn from_subset(element: &SS) -> SP
The inclusion map: converts
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