Struct franka::utils::MotionGenerator [−][src]
pub struct MotionGenerator { /* fields omitted */ }
An example showing how to generate a joint pose motion to a goal position. Adapted from: Wisama Khalil and Etienne Dombre. 2002. Modeling, Identification and Control of Robots (Kogan Page Science Paper edition).
Implementations
impl MotionGenerator
[src]
impl MotionGenerator
[src]pub fn new(speed_factor: f64, q_goal: &[f64; 7]) -> Self
[src]
Creates a new MotionGenerator instance for a target q.
Arguments
speed_factor
- General speed factor in range [0, 1].q_goal
- Target joint positions.
pub fn generate_motion(
&mut self,
robot_state: &RobotState,
period: &Duration
) -> JointPositions
[src]
&mut self,
robot_state: &RobotState,
period: &Duration
) -> JointPositions
Trait Implementations
Auto Trait Implementations
impl RefUnwindSafe for MotionGenerator
impl RefUnwindSafe for MotionGenerator
impl Send for MotionGenerator
impl Send for MotionGenerator
impl Sync for MotionGenerator
impl Sync for MotionGenerator
impl Unpin for MotionGenerator
impl Unpin for MotionGenerator
impl UnwindSafe for MotionGenerator
impl UnwindSafe for MotionGenerator
Blanket Implementations
impl<T> Same<T> for T
impl<T> Same<T> for T
type Output = T
Should always be Self
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
pub fn to_subset(&self) -> Option<SS>
pub fn is_in_subset(&self) -> bool
pub fn to_subset_unchecked(&self) -> SS
pub fn from_subset(element: &SS) -> SP
impl<V, T> VZip<V> for T where
V: MultiLane<T>,
impl<V, T> VZip<V> for T where
V: MultiLane<T>,