Struct ForceTorqueSample 

pub struct ForceTorqueSample {
    pub timestamp: f64,
    pub force_n: [f64; 3],
    pub torque_nm: [f64; 3],
}

A single reading from a 6-DOF force/torque sensor.

Forces are in Newtons; torques are in Newton·metres.

Fields

timestamp: f64

Timestamp in seconds.

force_n: [f64; 3]

Force vector [Fx, Fy, Fz] in N.

torque_nm: [f64; 3]

Torque vector [Tx, Ty, Tz] in N·m.

Implementations

impl ForceTorqueSample

pub fn new(timestamp: f64, force_n: [f64; 3], torque_nm: [f64; 3]) -> Self

Create a new 6-DOF sample.

pub fn force_magnitude(&self) -> f64

Net force magnitude in N.

pub fn torque_magnitude(&self) -> f64

Net torque magnitude in N·m.

pub fn to_bytes(&self) -> Vec<u8>

Serialize to 56 bytes (8 + 3×8 + 3×8).

pub fn from_bytes(data: &[u8]) -> Option<Self>

Deserialize from 56 bytes.

Trait Implementations

impl Clone for ForceTorqueSample

fn clone(&self) -> ForceTorqueSample

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for ForceTorqueSample

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

Formats the value using the given formatter.

impl PartialEq for ForceTorqueSample

fn eq(&self, other: &ForceTorqueSample) -> bool

Tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl StructuralPartialEq for ForceTorqueSample