Trait franka::robot::control_types::Finishable

pub trait Finishable {
    fn is_finished(&self) -> bool;
    fn set_motion_finished(&mut self, finished: bool);
    fn convert_motion(
        &self, 
        robot_state: &RobotState, 
        command: &mut MotionGeneratorCommand, 
        cutoff_frequency: f64, 
        limit_rate: bool
    );
}

Helper type for control and motion generation loops.

Used to determine whether to terminate a loop after the control callback has returned.

Required methods

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

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Implementors

impl Finishable for CartesianPose

fn is_finished(&self) -> bool

fn set_motion_finished(&mut self, finished: bool)

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

impl Finishable for CartesianVelocities

fn is_finished(&self) -> bool

fn set_motion_finished(&mut self, finished: bool)

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

impl Finishable for JointPositions

fn is_finished(&self) -> bool

fn set_motion_finished(&mut self, finished: bool)

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

impl Finishable for JointVelocities

fn is_finished(&self) -> bool

fn set_motion_finished(&mut self, finished: bool)

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

impl Finishable for Torques

fn is_finished(&self) -> bool

fn set_motion_finished(&mut self, finished: bool)

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

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