Struct SetForceModeRequest 

pub struct SetForceModeRequest {

    pub task_frame: PoseStamped,
    pub selection_vector_x: bool,
    pub selection_vector_y: bool,
    pub selection_vector_z: bool,
    pub selection_vector_rx: bool,
    pub selection_vector_ry: bool,
    pub selection_vector_rz: bool,
    pub wrench: Wrench,
    pub type_: u8,
    pub speed_limits: Twist,
    pub deviation_limits: [f32; 6],
    pub damping_factor: f32,
    pub gain_scaling: f32,
}

Fields

task_frame: PoseStamped

selection_vector_x: bool

selection_vector_y: bool

selection_vector_z: bool

selection_vector_rx: bool

selection_vector_ry: bool

selection_vector_rz: bool

wrench: Wrench

type_: u8

speed_limits: Twist

deviation_limits: [f32; 6]

damping_factor: f32

gain_scaling: f32

Implementations

impl SetForceModeRequest

pub const TCP_TO_ORIGIN: u8 = 1u8

pub const NO_TRANSFORM: u8 = 2u8

pub const TCP_VELOCITY_TO_X_Y: u8 = 3u8

Trait Implementations

impl Clone for SetForceModeRequest

fn clone(&self) -> SetForceModeRequest

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for SetForceModeRequest

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

Formats the value using the given formatter.

impl Default for SetForceModeRequest

fn default() -> Self

Returns the “default value” for a type.

impl<'de> Deserialize<'de> for SetForceModeRequest

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

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl PartialEq for SetForceModeRequest

fn eq(&self, other: &SetForceModeRequest) -> 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 Serialize for SetForceModeRequest

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

where __S: Serializer,

Serialize this value into the given Serde serializer.

impl Message for SetForceModeRequest

impl StructuralPartialEq for SetForceModeRequest