Struct franka::robot::control_types::JointPositions

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pub struct JointPositions {
    pub q: [f64; 7],
    /* private fields */
}

Expand description

Stores values for joint position motion generation.

Fields

q: [f64; 7]

Desired joint angles in [rad].

Implementations

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impl JointPositions

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

Creates a new JointPositions instance.

Arguments

joint_positions - Desired joint angles in [rad].

Trait Implementations

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impl Clone for JointPositions

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fn clone(&self) -> JointPositions

Returns a copy of the value. Read more

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

Performs copy-assignment from source. Read more

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impl Debug for JointPositions

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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<'de> Deserialize<'de> for JointPositions

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

Deserialize this value from the given Serde deserializer. Read more

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impl Finishable for JointPositions

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fn is_finished(&self) -> bool

Determines whether to finish a currently running motion.

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fn set_motion_finished(&mut self, finished: bool)

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

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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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impl From<Matrix<f64, U7, U1, <DefaultAllocator as Allocator<f64, U7, U1>>::Buffer>> for JointPositions

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fn from(vector: Vector7) -> Self

Converts to this type from the input type.

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impl Serialize for JointPositions

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

Serialize this value into the given Serde serializer. Read more

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impl Copy for JointPositions

Auto Trait Implementations

impl RefUnwindSafe for JointPositions

impl Send for JointPositions

impl Sync for JointPositions

impl Unpin for JointPositions

impl UnwindSafe for JointPositions

Blanket Implementations

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

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fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more

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

const: unstable · source

fn borrow(&self) -> &T

Immutably borrows from an owned value. Read more

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

const: unstable · source

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

Mutably borrows from an owned value. Read more

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impl<T> From<T> for T

const: unstable · source

fn from(t: T) -> T

Returns the argument unchanged.

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

const: unstable · source

fn into(self) -> U

Calls U::from(self).

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

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impl<T> MotionFinished for T where
T: Finishable + Copy,

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fn motion_finished(self) -> T

Helper method to indicate that a motion should stop after processing the given command.

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impl<T> Same<T> for T

type Output = T

Should always be Self

impl<SS, SP> SupersetOf<SS> for SP where
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> ToOwned for T where
T: Clone,

type Owned = T

The resulting type after obtaining ownership.

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fn to_owned(&self) -> T

Creates owned data from borrowed data, usually by cloning. Read more

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fn clone_into(&self, target: &mut T)

🔬 This is a nightly-only experimental API. (toowned_clone_into)

Uses borrowed data to replace owned data, usually by cloning. Read more

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impl<T, U> TryFrom for T where
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 T where
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.

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

fn vzip(self) -> V

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Struct franka::robot::control_types::JointPositions

Fields

Implementations

impl JointPositions

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

Trait Implementations

impl Clone for JointPositions

fn clone(&self) -> JointPositions

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

impl Debug for JointPositions

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

impl<'de> Deserialize<'de> for JointPositions

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

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

fn from(vector: Vector7) -> Self

impl Serialize for JointPositions

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

impl Copy for JointPositions

Auto Trait Implementations

impl RefUnwindSafe for JointPositions

impl Send for JointPositions

impl Sync for JointPositions

impl Unpin for JointPositions

impl UnwindSafe for JointPositions

Blanket Implementations

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

fn type_id(&self) -> TypeId

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

fn borrow(&self) -> &T

impl<T> BorrowMut<T> for T where 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 T where U: From<T>,

fn into(self) -> U

impl<T> MotionFinished for T where T: Finishable + Copy,

fn motion_finished(self) -> T

impl<T> Same<T> for T

type Output = T

impl<SS, SP> SupersetOf<SS> for SP where 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> ToOwned for T where T: Clone,

type Owned = T

fn to_owned(&self) -> T

fn clone_into(&self, target: &mut T)

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

type Error = Infallible

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

impl<T, U> TryInto<U> for T where 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 T where V: MultiLane<T>,

fn vzip(self) -> V

impl<T> DeserializeOwned for T where T: for<'de> Deserialize<'de>,

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

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

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

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

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

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

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

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

impl<T> MotionFinished for T where
T: Finishable + Copy,

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

impl<T> ToOwned for T where
T: Clone,

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

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

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

impl<T> DeserializeOwned for T where
T: for<'de> Deserialize<'de>,