Struct JointState 

pub struct JointState {
    pub position_rad: f64,
    pub velocity_radps: f64,
    pub effort_nm: Option<f64>,
}

Per-joint position/velocity (and optional effort) on a dynamic per-joint key.

Fields

position_rad: f64

velocity_radps: f64

effort_nm: Option<f64>

Trait Implementations

impl Clone for JointState

fn clone(&self) -> JointState

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl ContractBody for JointState

const NAME: &'static str = "v0.2::joint::JointState"

The version-qualified type identity: the dotted wire revision, then the ::-joined node path (dynamic-node vars are topic params, never type-path segments), then the PascalCase type leaf, e.g. "v0.1::drive::Target" or "v0.1::component::motor::Command". This is the contract’s source identity (D1) - two contracts interoperate iff they share this exact name - as distinct from TOPIC, the resolved wire key derived from it. NAME is exactly the "::"-join of VERSION and CONTRACT; it stays available for callers that want the whole identity as one string (e.g. display), while metadata recording splices the two split consts instead (coherence-gate design doc §2 - a joined name is not machine-parseable without assuming the version naming scheme).

const VERSION: &'static str = "v0.2"

This body’s dotted wire revision alone, e.g. "v0.1" - equal to <Self::Api as ApiVersion>::ID, but exposed directly on the body so a metadata recorder (#[derive(phoxal::Api)]’s linker-section splicing) can const-splice it without routing through Self::Api. Split from CONTRACT so consumers (the coherence gate and suite generator) record revision and contract as two separate fields rather than parsing a joined name.

const CONTRACT: &'static str = "joint::JointState"

This body’s contract path within its own version: the ::-joined node path (dynamic-node vars excluded, as with NAME) plus the PascalCase type leaf, e.g. "drive::Target". The logical contract - stable across a version bump - is this value alone; pairing it with VERSION recovers the full version-qualified identity (NAME).

const TOPIC: &'static str = "v0.2/joint/{joint}/state"

The version-qualified wire key: the dotted wire revision, then the /-joined node path plus the topic leaf, with each dynamic node contributing a {var} placeholder, e.g. "v0.1/drive/state" or "v0.1/component/{instance}/motor/{capability}/command". The concrete key is produced by the api-local topic builder, which fills the placeholders.

type Api = Api

The single API version this body belongs to. Two bodies from different versions have different Api, so the type system keeps them apart.

impl Debug for JointState

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

Formats the value using the given formatter.

impl<'de> Deserialize<'de> for JointState

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

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl PartialEq for JointState

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

Equality operator ==.

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

Inequality operator !=.

impl Serialize for JointState

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

where __S: Serializer,

Serialize this value into the given Serde serializer.

impl StructuralPartialEq for JointState