Type Alias JakaPro18 

pub type JakaPro18 = JakaRobot<_JakaPro18, { _JakaPro18::N }>;

Aliased Type

pub struct JakaPro18 {
    pub robot_impl: RobotImpl<6>,
    pub path: Option<Vec<MotionType<6>>>,
    pub joint_state_map: Arc<Mutex<HashMap<String, JointStateEntry>>>,
    /* private fields */
}

Fields

robot_impl: RobotImpl<6>

path: Option<Vec<MotionType<6>>>

joint_state_map: Arc<Mutex<HashMap<String, JointStateEntry>>>

Trait Implementations

impl ArmForwardKinematics<{ _JakaPro18::N }> for JakaPro18

const DH: [DhParam; 6]

fn kine_cache(q: &[f64; N], q_dot: &[f64; N]) -> ArmKineCache<N>

fn fk_end_pose(q: &[f64; N]) -> Pose

impl ArmParam<{ _JakaPro18::N }> for JakaPro18

const CONTROL_PERIOD: f64 = 8e-3

Control loop period in seconds. Used by trajectory-planning default implementations (e.g. ArmPreplannedPath::move_waypoints) to lay down a uniform time grid. Override this to match the actual realtime rate of the underlying driver.

const JOINT_DEFAULT: [f64; 6]

const JOINT_PACKED: [f64; 6]

const JOINT_MIN: [f64; 6]

const JOINT_MAX: [f64; 6]

const JOINT_VEL_BOUND: [f64; 6]

const JOINT_ACC_BOUND: [f64; 6]

const CARTESIAN_VEL_BOUND: f64 = 3.5

const CARTESIAN_ACC_BOUND: f64 = 8.0

const ROTATION_VEL_BOUND: f64 = PI

const ROTATION_ACC_BOUND: f64

const JOINT_TYPES: [JointType; N] = _

const JOINT_JERK_BOUND: [f64; N] = _

const CARTESIAN_JERK_BOUND: f64 = f64::MAX

const ROTATION_JERK_BOUND: f64 = f64::MAX

const TORQUE_BOUND: [f64; N] = _

const TORQUE_DOT_BOUND: [f64; N] = _

fn limit_joint_jerk(q_dddot: &mut [f64; N]) -> &mut [f64; N]

fn limit_joint_acc<'a>( q_ddot: &'a mut [f64; N], q_ddot_last: &[f64; N], time: f64, ) -> &'a mut [f64; N]

fn limit_joint_vel<'a>( q_dot: &'a mut [f64; N], q_dot_last: &[f64; N], q_ddot_last: &[f64; N], time: f64, ) -> &'a mut [f64; N]

fn limit_joint<'a>( q: &'a mut [f64; N], q_last: &[f64; N], q_dot_last: &[f64; N], q_ddot_last: &[f64; N], time: f64, ) -> &'a mut [f64; N]

fn limit_torque<'a>( tau: &'a mut [f64; N], tau_last: &[f64; N], time: f64, ) -> &'a mut [f64; N]

impl RobotFile for JakaPro18

const URDF: &'static str = "jaka/jaka_pro18.urdf"