Enum openrr_command::RobotCommand

pub enum RobotCommand {
    SendJoints {
        name: String,
        duration: f64,
        use_interpolation: bool,
        joint: Vec<(usize, f64)>,
    },
    SendJointsPose {
        name: String,
        pose_name: String,
        duration: f64,
    },
    MoveIk {
        name: String,
        x: Option<f64>,
        y: Option<f64>,
        z: Option<f64>,
        yaw: Option<f64>,
        pitch: Option<f64>,
        roll: Option<f64>,
        duration: f64,
        use_interpolation: bool,
        is_local: bool,
    },
    GetState {
        name: String,
    },
    LoadCommands {
        command_file_path: PathBuf,
    },
    List,
    Speak {
        name: String,
        message: Vec<String>,
    },
    ExecuteCommand {
        command: Vec<String>,
    },
    GetNavigationCurrentPose,
    SendNavigationGoal {
        x: f64,
        y: f64,
        yaw: f64,
        frame_id: String,
        timeout_secs: f64,
    },
    CancelNavigationGoal,
    SendBaseVelocity {
        x: f64,
        y: f64,
        theta: f64,
        duration_secs: f64,
    },
}

Variants

SendJoints

Send joint positions.

Fields of SendJoints

name: Stringduration: f64use_interpolation: bool

Interpolate target in cartesian space. If you use this flag, joint values are not used as references but used in forward kinematics.

joint: Vec<(usize, f64)>

SendJointsPose

Send predefined joint positions.

Fields of SendJointsPose

name: Stringpose_name: Stringduration: f64

MoveIk

Move with ik

Fields of MoveIk

name: Stringx: Option<f64>y: Option<f64>z: Option<f64>yaw: Option<f64>pitch: Option<f64>roll: Option<f64>duration: f64use_interpolation: bool

Interpolate target in cartesian space.

is_local: bool

GetState

Get joint positions and end pose if applicable.

Fields of GetState

name: String

LoadCommands

Load commands from file and execute them.

Fields of LoadCommands

command_file_path: PathBuf

List

List available clients.

Speak

Speak text message.

Fields of Speak

name: Stringmessage: Vec<String>

ExecuteCommand

Execute an external command.

Fields of ExecuteCommand

command: Vec<String>

GetNavigationCurrentPose

Get navigation current pose.

SendNavigationGoal

Send navigation goal pose.

Fields of SendNavigationGoal

x: f64y: f64yaw: f64frame_id: Stringtimeout_secs: f64

CancelNavigationGoal

Cancel navigation gaol.

SendBaseVelocity

Send base velocity.

Fields of SendBaseVelocity

x: f64y: f64theta: f64duration_secs: f64

Trait Implementations

impl Debug for RobotCommand

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

Formats the value using the given formatter.

impl StructOpt for RobotCommand

fn clap<'a, 'b>() -> App<'a, 'b>

Returns clap::App corresponding to the struct.

fn from_clap(matches: &ArgMatches<'_>) -> Self

Builds the struct from clap::ArgMatches. It’s guaranteed to succeed if matches originates from an App generated by StructOpt::clap called on the same type, otherwise it must panic.

fn from_args() -> Self

Builds the struct from the command line arguments (std::env::args_os). Calls clap::Error::exit on failure, printing the error message and aborting the program.

fn from_args_safe() -> Result<Self, Error>

Builds the struct from the command line arguments (std::env::args_os). Unlike StructOpt::from_args, returns clap::Error on failure instead of aborting the program, so calling .exit is up to you.

fn from_iter<I>(iter: I) -> Self where
    I: IntoIterator,
    <I as IntoIterator>::Item: Into<OsString>,
    <I as IntoIterator>::Item: Clone, 

Gets the struct from any iterator such as a Vec of your making. Print the error message and quit the program in case of failure.

fn from_iter_safe<I>(iter: I) -> Result<Self, Error> where
    I: IntoIterator,
    <I as IntoIterator>::Item: Into<OsString>,
    <I as IntoIterator>::Item: Clone, 

Gets the struct from any iterator such as a Vec of your making.