Struct franka::robot::control_types::Torques

pub struct Torques {
    pub tau_J: [f64; 7],
    // some fields omitted
}

Stores joint-level torque commands without gravity and friction.

Fields

tau_J: [f64; 7]

Desired torques in [Nm].

Implementations

impl Torques

pub fn new(torques: [f64; 7]) -> Self

Creates a new Torques instance

Arguments

• torques - Desired joint-level torques without gravity and friction in [Nm].

Trait Implementations

impl Clone for Torques

fn clone(&self) -> Torques

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Copy for Torques

impl Debug for Torques

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

Formats the value using the given formatter.

impl<'de> Deserialize<'de> for Torques

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

Deserialize this value from the given Serde deserializer.

impl Finishable for Torques

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<Matrix<f64, U7, U1, <DefaultAllocator as Allocator<f64, U7, U1>>::Buffer>> for Torques

fn from(vector: Vector7) -> Self

Performs the conversion.

impl Serialize for Torques

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

Serialize this value into the given Serde serializer.