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KinematicConfig

phoxal_model::robot

Enum KinematicConfig

pub enum KinematicConfig {
    Differential {
        left_actuators: Vec<CapabilityRef>,
        right_actuators: Vec<CapabilityRef>,
        left_encoders: Vec<CapabilityRef>,
        right_encoders: Vec<CapabilityRef>,
        wheel_radius_m: f64,
        wheel_base_m: f64,
    },
    Mecanum {
        front_left_actuator: CapabilityRef,
        front_right_actuator: CapabilityRef,
        rear_left_actuator: CapabilityRef,
        rear_right_actuator: CapabilityRef,
        wheel_radius_m: f64,
        wheel_base_m: f64,
        track_m: f64,
    },
    Ackermann {
        steering_actuator: CapabilityRef,
        drive_actuator: CapabilityRef,
        steering_encoder: Option<CapabilityRef>,
        drive_encoder: Option<CapabilityRef>,
        wheel_base_m: f64,
        track_m: f64,
        max_steering_angle_rad: f64,
    },
    Omnidirectional {
        actuators: Vec<CapabilityRef>,
        encoders: Vec<CapabilityRef>,
    },
}

Variants§

Differential

Fields

§left_actuators: Vec<CapabilityRef>

§right_actuators: Vec<CapabilityRef>

§left_encoders: Vec<CapabilityRef>

§right_encoders: Vec<CapabilityRef>

§wheel_radius_m: f64

§wheel_base_m: f64

Mecanum

Fields

§front_left_actuator: CapabilityRef

§front_right_actuator: CapabilityRef

§rear_left_actuator: CapabilityRef

§rear_right_actuator: CapabilityRef

§wheel_radius_m: f64

§wheel_base_m: f64

§track_m: f64

Ackermann

Fields

§steering_actuator: CapabilityRef

§drive_actuator: CapabilityRef

§steering_encoder: Option<CapabilityRef>

§drive_encoder: Option<CapabilityRef>

§wheel_base_m: f64

§track_m: f64

§max_steering_angle_rad: f64

Omnidirectional

Fields

§actuators: Vec<CapabilityRef>

§encoders: Vec<CapabilityRef>

Trait Implementations§

impl Clone for KinematicConfig

fn clone(&self) -> KinematicConfig

Returns a duplicate of the value. Read more

1.0.0 (const: unstable) · Source§

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

Performs copy-assignment from source. Read more

impl Debug for KinematicConfig

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

Formats the value using the given formatter. Read more

impl<'de> Deserialize<'de> for KinematicConfig

fn deserialize<D>(deserializer: D) -> Result<Self, D::Error>
where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer. Read more

impl PartialEq for KinematicConfig

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

Equality operator ==. Read more

1.0.0 (const: unstable) · Source§

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

Inequality operator !=. Read more

impl Serialize for KinematicConfig

fn serialize<S>(&self, serializer: S) -> Result<S::Ok, S::Error>
where S: Serializer,

Serialize this value into the given Serde serializer. Read more

impl StructuralPartialEq for KinematicConfig

Auto Trait Implementations§

impl Freeze for KinematicConfig

impl RefUnwindSafe for KinematicConfig

impl Send for KinematicConfig

impl Sync for KinematicConfig

impl Unpin for KinematicConfig

impl UnsafeUnpin for KinematicConfig

impl UnwindSafe for KinematicConfig

Blanket Implementations§

impl<T> Any for T
where T: 'static + ?Sized,

fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more

impl<T> Borrow<T> for T
where T: ?Sized,

fn borrow(&self) -> &T

Immutably borrows from an owned value. Read more

impl<T> BorrowMut<T> for T
where T: ?Sized,

fn borrow_mut(&mut self) -> &mut T

Mutably borrows from an owned value. Read more

impl<T> CloneToUninit for T
where T: Clone,

unsafe fn clone_to_uninit(&self, dest: *mut u8)

🔬This is a nightly-only experimental API. (clone_to_uninit)

Performs copy-assignment from self to dest. Read more

impl<T> DeserializeOwned for T
where T: for<'de> Deserialize<'de>,

impl<T> From<T> for T

fn from(t: T) -> T

Returns the argument unchanged.

impl<T, U> Into<U> for T
where U: From<T>,

fn into(self) -> U

Calls U::from(self).

That is, this conversion is whatever the implementation of From<T> for U chooses to do.

impl<T> ToOwned for T
where T: Clone,

type Owned = T

The resulting type after obtaining ownership.

fn to_owned(&self) -> T

Creates owned data from borrowed data, usually by cloning. Read more

fn clone_into(&self, target: &mut T)

Uses borrowed data to replace owned data, usually by cloning. Read more

impl<T, U> TryFrom<U> for T
where U: Into<T>,

type Error = Infallible

The type returned in the event of a conversion error.

fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>

Performs the conversion.

impl<T, U> TryInto<U> for T
where U: TryFrom<T>,

type Error = <U as TryFrom<T>>::Error

The type returned in the event of a conversion error.

fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>

Performs the conversion.