Enum openrr_command::RobotCommand
source · pub enum RobotCommand {
Show 13 variants
SendJoints {
name: String,
duration: f64,
use_interpolation: bool,
joint: Vec<(usize, f64)>,
max_resolution_for_interpolation: f64,
min_number_of_points_for_interpolation: i32,
},
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,
max_resolution_for_interpolation: f64,
min_number_of_points_for_interpolation: i32,
},
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,
},
ShellCompletion(ShellType),
}
Variants§
SendJoints
Fields
§
use_interpolation: bool
Interpolate target in cartesian space. If you use this flag, joint values are not used as references but used in forward kinematics.
Send joint positions.
SendJointsPose
Send predefined joint positions.
MoveIk
Fields
Move with ik
GetState
Get joint positions and end pose if applicable.
LoadCommands
Load commands from file and execute them.
List
List available clients.
Speak
Speak text message.
ExecuteCommand
Execute an external command.
Get navigation current pose.
Send navigation goal pose.
Cancel navigation goal.
SendBaseVelocity
Send base velocity.
ShellCompletion(ShellType)
Shell completion
Trait Implementations§
source§impl CommandFactory for RobotCommand
impl CommandFactory for RobotCommand
source§impl Debug for RobotCommand
impl Debug for RobotCommand
source§impl FromArgMatches for RobotCommand
impl FromArgMatches for RobotCommand
source§fn from_arg_matches(__clap_arg_matches: &ArgMatches) -> Result<Self, Error>
fn from_arg_matches(__clap_arg_matches: &ArgMatches) -> Result<Self, Error>
source§fn from_arg_matches_mut(
__clap_arg_matches: &mut ArgMatches
) -> Result<Self, Error>
fn from_arg_matches_mut( __clap_arg_matches: &mut ArgMatches ) -> Result<Self, Error>
source§fn update_from_arg_matches(
&mut self,
__clap_arg_matches: &ArgMatches
) -> Result<(), Error>
fn update_from_arg_matches( &mut self, __clap_arg_matches: &ArgMatches ) -> Result<(), Error>
Assign values from
ArgMatches
to self
.source§fn update_from_arg_matches_mut<'b>(
&mut self,
__clap_arg_matches: &mut ArgMatches
) -> Result<(), Error>
fn update_from_arg_matches_mut<'b>( &mut self, __clap_arg_matches: &mut ArgMatches ) -> Result<(), Error>
Assign values from
ArgMatches
to self
.source§impl Parser for RobotCommand
impl Parser for RobotCommand
§fn try_parse() -> Result<Self, Error<RichFormatter>>
fn try_parse() -> Result<Self, Error<RichFormatter>>
Parse from
std::env::args_os()
, return Err on error.§fn parse_from<I, T>(itr: I) -> Selfwhere
I: IntoIterator<Item = T>,
T: Into<OsString> + Clone,
fn parse_from<I, T>(itr: I) -> Selfwhere I: IntoIterator<Item = T>, T: Into<OsString> + Clone,
Parse from iterator, exit on error
§fn try_parse_from<I, T>(itr: I) -> Result<Self, Error<RichFormatter>>where
I: IntoIterator<Item = T>,
T: Into<OsString> + Clone,
fn try_parse_from<I, T>(itr: I) -> Result<Self, Error<RichFormatter>>where I: IntoIterator<Item = T>, T: Into<OsString> + Clone,
Parse from iterator, return Err on error.
§fn update_from<I, T>(&mut self, itr: I)where
I: IntoIterator<Item = T>,
T: Into<OsString> + Clone,
fn update_from<I, T>(&mut self, itr: I)where I: IntoIterator<Item = T>, T: Into<OsString> + Clone,
Update from iterator, exit on error
§fn try_update_from<I, T>(&mut self, itr: I) -> Result<(), Error<RichFormatter>>where
I: IntoIterator<Item = T>,
T: Into<OsString> + Clone,
fn try_update_from<I, T>(&mut self, itr: I) -> Result<(), Error<RichFormatter>>where I: IntoIterator<Item = T>, T: Into<OsString> + Clone,
Update from iterator, return Err on error.
source§impl Subcommand for RobotCommand
impl Subcommand for RobotCommand
source§fn augment_subcommands<'b>(__clap_app: Command) -> Command
fn augment_subcommands<'b>(__clap_app: Command) -> Command
source§fn augment_subcommands_for_update<'b>(__clap_app: Command) -> Command
fn augment_subcommands_for_update<'b>(__clap_app: Command) -> Command
source§fn has_subcommand(__clap_name: &str) -> bool
fn has_subcommand(__clap_name: &str) -> bool
Test whether
Self
can parse a specific subcommandAuto Trait Implementations§
impl RefUnwindSafe for RobotCommand
impl Send for RobotCommand
impl Sync for RobotCommand
impl Unpin for RobotCommand
impl UnwindSafe for RobotCommand
Blanket Implementations§
§impl<T> Downcast for Twhere
T: Any,
impl<T> Downcast for Twhere T: Any,
§fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>
fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>
Convert
Box<dyn Trait>
(where Trait: Downcast
) to Box<dyn Any>
. Box<dyn Any>
can
then be further downcast
into Box<ConcreteType>
where ConcreteType
implements Trait
.§fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
Convert
Rc<Trait>
(where Trait: Downcast
) to Rc<Any>
. Rc<Any>
can then be
further downcast
into Rc<ConcreteType>
where ConcreteType
implements Trait
.§fn as_any(&self) -> &(dyn Any + 'static)
fn as_any(&self) -> &(dyn Any + 'static)
Convert
&Trait
(where Trait: Downcast
) to &Any
. This is needed since Rust cannot
generate &Any
’s vtable from &Trait
’s.§fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
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’s vtable from &mut Trait
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impl<T> Instrument for T
source§fn instrument(self, span: Span) -> Instrumented<Self>
fn instrument(self, span: Span) -> Instrumented<Self>
source§fn in_current_span(self) -> Instrumented<Self>
fn in_current_span(self) -> Instrumented<Self>
§impl<T> Pointable for T
impl<T> Pointable for T
§impl<SS, SP> SupersetOf<SS> for SPwhere
SS: SubsetOf<SP>,
impl<SS, SP> SupersetOf<SS> for SPwhere SS: SubsetOf<SP>,
§fn to_subset(&self) -> Option<SS>
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
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
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
fn from_subset(element: &SS) -> SP
The inclusion map: converts
self
to the equivalent element of its superset.