Enum Joint 

pub enum Joint {
    J1 = 0,
    J2 = 1,
    J3 = 2,
    J4 = 3,
    J5 = 4,
    J6 = 5,
}

关节枚举

表示 Piper 机械臂的 6 个关节。使用枚举提供编译期类型安全。

Variants

J1 = 0

关节 1（基座旋转）

J2 = 1

关节 2（肩部俯仰）

J3 = 2

关节 3（肘部俯仰）

J4 = 3

关节 4（腕部旋转）

J5 = 4

关节 5（腕部俯仰）

J6 = 5

关节 6（末端旋转）

Implementations

impl Joint

pub const ALL: [Joint; 6]

所有关节的数组

pub const fn index(self) -> usize

获取关节索引（0-5）

pub fn from_index(index: usize) -> Option<Self>

从索引创建关节（范围检查）

pub const fn name(self) -> &'static str

获取关节名称

Trait Implementations

impl Clone for Joint

fn clone(&self) -> Joint

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for Joint

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

Formats the value using the given formatter.

impl Display for Joint

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

Formats the value using the given formatter.

impl Hash for Joint

fn hash<__H: Hasher>(&self, state: &mut __H)

Feeds this value into the given Hasher.

fn hash_slice<H>(data: &[Self], state: &mut H)

where H: Hasher, Self: Sized,

Feeds a slice of this type into the given Hasher.

impl<T> Index<Joint> for JointArray<T>

type Output = T

The returned type after indexing.

fn index(&self, joint: Joint) -> &T

Performs the indexing (container[index]) operation.

impl<T> IndexMut<Joint> for JointArray<T>

fn index_mut(&mut self, joint: Joint) -> &mut T

Performs the mutable indexing (container[index]) operation.

impl PartialEq for Joint

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

Tests for self and other values to be equal, and is used by ==.

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

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl Copy for Joint

impl Eq for Joint

impl StructuralPartialEq for Joint