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AlignedMotionState

piper_sdk::driver

Struct AlignedMotionState 

Source 
pub struct AlignedMotionState {
    pub joint_pos: [f64; 6],
    pub joint_vel: [f64; 6],
    pub joint_current: [f64; 6],
    pub end_pose: [f64; 6],
    pub timestamp: u64,
    pub time_diff_us: i64,
}
Expand description

时间对齐后的运动状态

用于力控算法，确保位置和速度数据的时间戳差异在可接受范围内。

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§joint_pos: [f64; 6]§joint_vel: [f64; 6]§joint_current: [f64; 6]§end_pose: [f64; 6]§timestamp: u64§time_diff_us: i64

Trait Implementations§

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impl Debug for AlignedMotionState

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

Formats the value using the given formatter. Read more

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