ControlMode

Enum ControlMode

pub enum ControlMode {
    Velocity(f64),
    Torque(f64),
    Position(f64),
    Pd {
        target_position: f64,
        target_velocity: f64,
        position_gain: f64,
        velocity_gain: f64,
        maximum_velocity: Option<f64>,
    },
    StablePd {
        target_position: f64,
        target_velocity: f64,
        position_gain: f64,
        velocity_gain: f64,
        maximum_velocity: Option<f64>,
    },
}

Variants§

Velocity(f64)

Velocity control with the desired joint velocity

Torque(f64)

Torque control with the desired joint torque.

Position(f64)

Position Control with the desired joint position.

Pd

PD Control

Fields

§target_position: f64

desired target position

§target_velocity: f64

desired target velocity

§position_gain: f64

position gain

§velocity_gain: f64

velocity gain

§maximum_velocity: Option<f64>

limits the velocity of a joint

StablePd

Fields

§target_position: f64

desired target position

§target_velocity: f64

desired target velocity

§position_gain: f64

position gain

§velocity_gain: f64

velocity gain

§maximum_velocity: Option<f64>

limits the velocity of a joint

Implementations§

impl ControlMode

pub fn as_raw(self) -> i32

pub fn is_position_based(self) -> bool

pub fn is_velocity_based(self) -> bool

pub fn is_torque_based(self) -> bool

Trait Implementations§

impl Clone for ControlMode

fn clone(&self) -> ControlMode

Returns a duplicate of the value. Read more

1.0.0 · Source§

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

Performs copy-assignment from source. Read more

impl Debug for ControlMode

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

Formats the value using the given formatter. Read more

impl Copy for ControlMode

Auto Trait Implementations§

impl Freeze for ControlMode

impl RefUnwindSafe for ControlMode

impl Send for ControlMode

impl Sync for ControlMode

impl Unpin for ControlMode

impl UnwindSafe for ControlMode

Blanket Implementations§

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where T: 'static + ?Sized,

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Gets the TypeId of self. Read more

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Mutably borrows from an owned value. Read more

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where T: Clone,

unsafe fn clone_to_uninit(&self, dest: *mut u8)

🔬This is a nightly-only experimental API. (clone_to_uninit)

Performs copy-assignment from self to dest. Read more

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