Struct MultiDOFJointState 

#[repr(C)]
pub struct MultiDOFJointState {
    pub header: Header,
    pub joint_names: Vec<String>,
    pub transforms: Vec<Transform>,
    pub twist: Vec<Twist>,
    pub wrench: Vec<Wrench>,
}

Representation of state for joints with multiple degrees of freedom, following the structure of JointState which can only represent a single degree of freedom.

It is assumed that a joint in a system corresponds to a transform that gets applied along the kinematic chain. For example, a planar joint (as in URDF) is 3DOF (x, y, yaw) and those 3DOF can be expressed as a transformation matrix, and that transformation matrix can be converted back to (x, y, yaw)

Each joint is uniquely identified by its name The header specifies the time at which the joint states were recorded. All the joint states in one message have to be recorded at the same time.

This message consists of a multiple arrays, one for each part of the joint state. The goal is to make each of the fields optional. When e.g. your joints have no wrench associated with them, you can leave the wrench array empty.

All arrays in this message should have the same size, or be empty. This is the only way to uniquely associate the joint name with the correct states.

Fields

header: Header

joint_names: Vec<String>

transforms: Vec<Transform>

twist: Vec<Twist>

wrench: Vec<Wrench>

Implementations

impl MultiDOFJointState

pub fn create_topic_with_name( participant: &DdsParticipant, name: &str, maybe_qos: Option<DdsQos>, maybe_listener: Option<DdsListener>, ) -> Result<DdsTopic<Self>, DDSError>

Create a topic using of this Type specifying the topic name

Arguments

• participant - The participant handle onto which this topic should be created
• name - The name of the topic
• maybe_qos - A QoS structure for this topic. The Qos is optional
• maybe_listener - A listener to use on this topic. The listener is optional

pub fn create_topic( participant: &DdsParticipant, maybe_topic_prefix: Option<&str>, maybe_qos: Option<DdsQos>, maybe_listener: Option<DdsListener>, ) -> Result<DdsTopic<Self>, DDSError>

Create a topic of this Type using the default topic name. The default topic name is provided by the Self::topic_name function.

Arguments

• participant - The participant handle onto which this topic should be created
• maybe_topic_prefix - An additional prefix to be added to the topic name. This can be None
• maybe_qos - A QoS structure for this topic. The Qos is optional
• maybe_listener - A listener to use on this topic. The listener is optional

pub fn create_sample_buffer(len: usize) -> SampleBuffer<MultiDOFJointState>

Create a sample buffer for storing an array of samples You can pass the sample buffer into a read to read multiple samples. Multiple samples are useful when you have one or more keys in your topic structure. Each value of the key will result in the storage of another sample.

Trait Implementations

impl<'de> Deserialize<'de> for MultiDOFJointState

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

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl Serialize for MultiDOFJointState

fn serialize<__S>(&self, __serializer: __S) -> Result<__S::Ok, __S::Error>

where __S: Serializer,

Serialize this value into the given Serde serializer.

impl TopicType for MultiDOFJointState

fn key_cdr(&self) -> Vec<u8>

return the cdr encoding for the key. The encoded string includes the four byte encapsulation string.

fn is_fixed_size() -> bool

fn has_key() -> bool

fn force_md5_keyhash() -> bool

fn hash(&self, basehash: u32) -> u32

fn typename() -> CString

The type name for this topic

fn topic_name(maybe_prefix: Option<&str>) -> String

The default topic_name to use when creating a topic of this type. The default implementation uses ‘/’ instead of ‘::’ to form a unix like path. A prefix can optionally be added