Struct JointStateMsg 

pub struct JointStateMsg {
    pub timestamp: f64,
    pub names: Vec<String>,
    pub positions: Vec<f64>,
    pub velocities: Vec<f64>,
    pub efforts: Vec<f64>,
}

A ROS-like joint state message.

Fields

timestamp: f64

Timestamp in seconds.

names: Vec<String>

Joint names.

positions: Vec<f64>

Joint positions (rad or m).

velocities: Vec<f64>

Joint velocities (rad/s or m/s).

efforts: Vec<f64>

Joint efforts (N·m or N).

Implementations

impl JointStateMsg

pub fn new( timestamp: f64, names: Vec<String>, positions: Vec<f64>, velocities: Vec<f64>, efforts: Vec<f64>, ) -> Self

Construct a new joint state with the given timestamp and equal-length vectors.

Panics in debug mode if the vectors have different lengths.

pub fn len(&self) -> usize

Return the number of joints.

pub fn is_empty(&self) -> bool

Return true if there are no joints.

pub fn index_of(&self, name: &str) -> Option<usize>

Look up the index of a joint by name.

pub fn position_of(&self, name: &str) -> Option<f64>

Get the position of a joint by name.

pub fn unit_kinetic_energy(&self) -> f64

Kinetic energy assuming unit inertia for each joint.

pub fn to_csv_line(&self) -> String

Serialise to CSV line: timestamp,name0:pos0:vel0:eff0,....

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

Serialise to a binary buffer (little-endian f64 per value).

Trait Implementations

impl Clone for JointStateMsg

fn clone(&self) -> JointStateMsg

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for JointStateMsg

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

Formats the value using the given formatter.

impl Default for JointStateMsg

fn default() -> JointStateMsg

Returns the “default value” for a type.