Struct robot_description_builder::joint_data::SafetyControllerData

pub struct SafetyControllerData {
    pub soft_lower_limit: Option<f32>,
    pub soft_upper_limit: Option<f32>,
    pub k_position: Option<f32>,
    pub k_velocity: f32,
}

Fields

soft_lower_limit: Option<f32>

(optional, defaults to 0)

An attribute specifying the lower joint boundary where the safety controller starts limiting the position of the joint. This limit needs to be larger than the lower joint limit (see above). See See safety limits for more details. TODO: FIX DOCUMENTATION

soft_upper_limit: Option<f32>

(optional, defaults to 0)

An attribute specifying the upper joint boundary where the safety controller starts limiting the position of the joint. This limit needs to be smaller than the upper joint limit (see above). See See safety limits for more details. TODO: FIX DOCUMENTATION

k_position: Option<f32>

(optional, defaults to 0)

An attribute specifying the relation between position and velocity limits. See See safety limits for more details. TODO: FIX DOCUMENTATION

k_velocity: f32

An attribute specifying the relation between effort and velocity limits. See See safety limits for more details.

Trait Implementations

impl Clone for SafetyControllerData

fn clone(&self) -> SafetyControllerData

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for SafetyControllerData

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

Formats the value using the given formatter.

impl Default for SafetyControllerData

fn default() -> SafetyControllerData

Returns the “default value” for a type.

impl PartialEq<SafetyControllerData> for SafetyControllerData

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

This method tests for self and other values to be equal, and is used by ==.

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

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

impl ToURDF for SafetyControllerData

fn to_urdf( &self, writer: &mut Writer<Cursor<Vec<u8>>>, _urdf_config: &URDFConfig ) -> Result<(), Error>

Represents the element as in URDF format.

impl Copy for SafetyControllerData

impl StructuralPartialEq for SafetyControllerData