Struct PyMotorConstraint 

pub struct PyMotorConstraint {
    pub target_velocity: f64,
    pub target_position: f64,
    pub max_torque: f64,
    pub pid: PidGains,
    pub position_mode: bool,
    pub applied_torque: f64,
    pub thermal: MotorThermal,
}

A motor/actuator constraint driving a joint.

Fields

target_velocity: f64

Target angular velocity (rad/s). Used in velocity mode.

target_position: f64

Target position (rad or m). Used in position mode.

max_torque: f64

Maximum torque/force (N·m or N).

pid: PidGains

PID controller.

position_mode: bool

Whether in position mode (true) or velocity mode (false).

applied_torque: f64

Current applied torque.

thermal: MotorThermal

Thermal model.

Implementations

impl PyMotorConstraint

pub fn velocity_mode(target_velocity: f64, max_torque: f64, kp: f64) -> Self

Create a velocity-mode motor.

pub fn position_mode( target_position: f64, max_torque: f64, pid: PidGains, ) -> Self

Create a position-mode motor with PID gains.

pub fn step(&mut self, current_value: f64, dt: f64) -> f64

Step the motor given the current measured value and time step.

Trait Implementations

impl Clone for PyMotorConstraint

fn clone(&self) -> PyMotorConstraint

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for PyMotorConstraint

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

Formats the value using the given formatter.

impl<'de> Deserialize<'de> for PyMotorConstraint

fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl Serialize for PyMotorConstraint

fn serialize<__S>(&self, __serializer: __S) -> Result<__S::Ok, __S::Error>

where __S: Serializer,

Serialize this value into the given Serde serializer.