Struct Sample 

pub struct Sample {
    pub orientation: Option<[f32; 4]>,
    pub angular_velocity_radps: [f32; 3],
    pub linear_acceleration_mps2: [f32; 3],
    pub covariance: Option<[f32; 9]>,
    pub noise_density: Option<[f32; 3]>,
    pub sensor_frame_id: Option<String>,
    pub health: SensorHealth,
    pub bias: Option<Bias>,
}

Fields

orientation: Option<[f32; 4]>

angular_velocity_radps: [f32; 3]

linear_acceleration_mps2: [f32; 3]

covariance: Option<[f32; 9]>

noise_density: Option<[f32; 3]>

sensor_frame_id: Option<String>

health: SensorHealth

bias: Option<Bias>

Trait Implementations

impl Clone for Sample

fn clone(&self) -> Sample

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl ContractBody for Sample

const NAME: &'static str = "v0.1::component::imu::Sample"

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 consumers that must reason about the revision and the contract independently use the two split consts instead - a joined name is not machine-parseable without assuming the version naming scheme.

const VERSION: &'static str = "v0.1"

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 a consumer can read the revision without parsing a joined name.

const CONTRACT: &'static str = "component::imu::Sample"

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 = "v0.1/component/{instance}/imu/{capability}/sample"

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.

const ROLE: TopicRole = ::phoxal_bus::TopicRole::Measurement

The topic role this body was declared with, which fixes both the side brand and the robot time a publisher of it can express.

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 Sample

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

Formats the value using the given formatter.

impl<'de> Deserialize<'de> for Sample

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

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl MeasurementContract for Sample

impl PartialEq for Sample

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

Equality operator ==.

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

Inequality operator !=.

impl Serialize for Sample

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 Sample