Struct franka::robot::control_types::CartesianPose

pub struct CartesianPose {
    pub O_T_EE: [f64; 16],
    pub elbow: Option<[f64; 2]>,
    // some fields omitted
}

Stores values for Cartesian pose motion generation.

Fields

O_T_EE: [f64; 16]

Homogeneous transformation , column major, that transforms from the end effector frame EE to base frame O. Equivalently, it is the desired end effector pose in base frame.

elbow: Option<[f64; 2]>

Elbow configuration.

If “None” the elbow will be controlled by the robot

The values of the array are:

• [0] Position of the 3rd joint in [rad].
• [1] Sign of the 4th joint. Can be +1 or -1.

Implementations

impl CartesianPose

pub fn new(cartesian_pose: [f64; 16], elbow: Option<[f64; 2]>) -> Self

Creates a new CartesianPose instance.

Arguments

• cartesian_pose - Desired vectorized homogeneous transformation matrix , column major, that transforms from the end effector frame EE to base frame O. Equivalently, it is the desired end effector pose in base frame.

• elbow - Elbow configuration. See elbow

pub fn has_elbow(&self) -> bool

Determines whether there is a stored elbow configuration.

pub fn check_elbow(elbow: &[f64; 2])

Determines whether the elbow configuration is valid and has finite values

pub fn is_valid_elbow(elbow: &[f64; 2]) -> bool

Determines whether the given elbow configuration is valid or not.

Trait Implementations

impl Clone for CartesianPose

fn clone(&self) -> CartesianPose

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Copy for CartesianPose

impl Debug for CartesianPose

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

Formats the value using the given formatter.

impl<'de> Deserialize<'de> for CartesianPose

fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error> where
    __D: Deserializer<'de>, 

Deserialize this value from the given Serde deserializer.

impl Finishable for CartesianPose

fn is_finished(&self) -> bool

Determines whether to finish a currently running motion.

fn set_motion_finished(&mut self, finished: bool)

Sets the attribute which decide if the currently running motion should be finished

fn convert_motion(
    &self,
    robot_state: &RobotState,
    command: &mut MotionGeneratorCommand,
    cutoff_frequency: f64,
    limit_rate: bool
)

converts the motion type to a MotionGeneratorCommand and applies rate limiting and filtering

impl From<[f64; 16]> for CartesianPose

fn from(array: [f64; 16]) -> Self

Performs the conversion.

impl From<Isometry<f64, U3, Unit<Quaternion<f64>>>> for CartesianPose

fn from(isometry: Isometry3<f64>) -> Self

Performs the conversion.

impl Serialize for CartesianPose

fn serialize<__S>(&self, __serializer: __S) -> Result<__S::Ok, __S::Error> where
    __S: Serializer, 

Serialize this value into the given Serde serializer.