Struct openrr_client::IkClient

pub struct IkClient<T> where
    T: JointTrajectoryClient,  {
    pub client: T,
    pub ik_solver_with_chain: Arc<IkSolverWithChain>,
}

Fields

client: T

ik_solver_with_chain: Arc<IkSolverWithChain>

Implementations

impl<T> IkClient<T> where
    T: JointTrajectoryClient + Send, 

pub fn new(client: T, ik_solver_with_chain: Arc<IkSolverWithChain>) -> Self

pub fn current_end_transform(&self) -> Result<Isometry3<f64>, Error>

pub fn move_ik_with_constraints(
    &self,
    target_pose: &Isometry3<f64>,
    constraints: &Constraints,
    duration_sec: f64
) -> Result<WaitFuture, Error>

pub fn move_ik_with_interpolation_and_constraints(
    &self,
    target_pose: &Isometry3<f64>,
    constraints: &Constraints,
    duration_sec: f64
) -> Result<WaitFuture, Error>

pub fn move_ik(
    &self,
    target_pose: &Isometry3<f64>,
    duration_sec: f64
) -> Result<WaitFuture, Error>

pub fn move_ik_with_interpolation(
    &self,
    target_pose: &Isometry3<f64>,
    duration_sec: f64
) -> Result<WaitFuture, Error>

pub fn transform(
    &self,
    relative_pose: &Isometry3<f64>
) -> Result<Isometry3<f64>, Error>

Get relative pose from current pose of the IK target

pub fn set_zero_pose_for_kinematics(&self) -> Result<(), Error>

pub fn constraints(&self) -> &Constraints

pub fn set_joint_positions_clamped(&self, positions: &[f64])

Trait Implementations

impl<T> JointTrajectoryClient for IkClient<T> where
    T: JointTrajectoryClient, 

fn joint_names(&self) -> Vec<String>

Returns names of joints that this client handles.

fn current_joint_positions(&self) -> Result<Vec<f64>, Error>

Returns the current joint positions.

fn send_joint_positions(
    &self,
    positions: Vec<f64>,
    duration: Duration
) -> Result<WaitFuture, Error>

Send the specified joint positions and returns a future that waits until complete the move joints.

fn send_joint_trajectory(
    &self,
    trajectory: Vec<TrajectoryPoint>
) -> Result<WaitFuture, Error>

Send the specified joint trajectory and returns a future that waits until complete the move joints.