Struct franka_interface::types::RobotState

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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: Vector7

desired join positions

joint_positions: Vector7

measured joint positions

joint_velocities: Vector7

measured joint velocities

joint_velocities_d: Vector7

desired joint velocities

joint_torques: Vector7

measured 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: Matrix6x7

Jacobian at the current configuration

mass_matrix: Matrix7

Mass matrix at the current configuration

coriolis: Vector7

Coriolis torques at the current configuration

gravity: Vector7

Gravity torques at the current configuration

control_command_success_rate: f64

Percentage of the last 100 robot commands that the robot successfully received

Trait Implementations

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impl Debug for RobotState

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

Formats the value using the given formatter. Read more

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impl From<RobotState> for RobotState

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fn from(state: RobotState) -> Self

Converts to this type from the input type.

Auto Trait Implementations

impl RefUnwindSafe for RobotState

impl Send for RobotState

impl Sync for RobotState

impl Unpin for RobotState

fn into(self) -> U

Calls U::from(self).

That is, this conversion is whatever the implementation of From<T> for U chooses to do.

impl<T> Pointable for T

const ALIGN: usize = mem::align_of::<T>()

The alignment of pointer.

type Init = T

The type for initializers.

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

Initializes a with the given initializer. Read more

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

Dereferences the given pointer. Read more

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

Mutably dereferences the given pointer. Read more

unsafe fn drop(ptr: usize)

Drops the object pointed to by the given pointer. Read more

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impl<T> Same<T> for T

type Output = T

Should always be Self

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

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

The inverse inclusion map: attempts to construct self from the equivalent element of its superset. Read more

fn is_in_subset(&self) -> bool

Checks if self is actually part of its subset T (and can be converted to it).

fn to_subset_unchecked(&self) -> SS

Use with care! Same as self.to_subset but without any property checks. Always succeeds.

fn from_subset(element: &SS) -> SP

The inclusion map: converts self to the equivalent element of its superset.

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impl<T, U> TryFrom for Twhere
U: Into<T>,

type Error = Infallible

The type returned in the event of a conversion error.

const: unstable · source

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

Performs the conversion.

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impl<T, U> TryInto for Twhere
U: TryFrom<T>,

type Error = >::Error

The type returned in the event of a conversion error.

const: unstable · source

fn try_into(self) -> Result<U, >::Error>

Performs the conversion.

Struct franka_interface::types::RobotState

Fields

Trait Implementations

impl Debug for RobotState

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

impl From<RobotState> for RobotState

fn from(state: RobotState) -> Self

Auto Trait Implementations

impl RefUnwindSafe for RobotState

impl Send for RobotState

impl Sync for RobotState

impl Unpin for RobotState

impl UnwindSafe for RobotState

Blanket Implementations

impl<T> Any for Twhere T: 'static + ?Sized,

fn type_id(&self) -> TypeId

impl<T> Borrow<T> for Twhere T: ?Sized,

fn borrow(&self) -> &T

impl<T> BorrowMut<T> for Twhere T: ?Sized,

fn borrow_mut(&mut self) -> &mut T

impl<T> From<T> for T

fn from(t: T) -> T

impl<T, U> Into<U> for Twhere U: From<T>,

fn into(self) -> U

impl<T> Pointable for T

const ALIGN: usize = mem::align_of::<T>()

type Init = T

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

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

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

unsafe fn drop(ptr: usize)

impl<T> Same<T> for T

type Output = T

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

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

fn is_in_subset(&self) -> bool

fn to_subset_unchecked(&self) -> SS

fn from_subset(element: &SS) -> SP

impl<T, U> TryFrom<U> for Twhere U: Into<T>,

type Error = Infallible

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

impl<T, U> TryInto<U> for Twhere U: TryFrom<T>,

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

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

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

fn vzip(self) -> V

impl<T> Any for Twhere
T: 'static + ?Sized,

impl<T> Borrow<T> for Twhere
T: ?Sized,

impl<T> BorrowMut<T> for Twhere
T: ?Sized,

impl<T, U> Into<U> for Twhere
U: From<T>,

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

impl<T, U> TryFrom<U> for Twhere
U: Into<T>,

impl<T, U> TryInto<U> for Twhere
U: TryFrom<T>,

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