Enum rubullet::ControlCommand [−][src]
pub enum ControlCommand {
Position(f64),
PositionWithPd {
target_position: f64,
target_velocity: f64,
position_gain: f64,
velocity_gain: f64,
maximum_velocity: Option<f64>,
},
Velocity(f64),
Torque(f64),
Pd {
target_position: f64,
target_velocity: f64,
position_gain: f64,
velocity_gain: f64,
maximum_velocity: Option<f64>,
},
}Expand description
The ControlCommand specifies how the robot should move (Position Control, Velocity Control, Torque Control)
Each type of ControlCommand has its own set of Parameters. The Position mode for example takes a desired joint
position as input. It can be used in set_joint_motor_control()
| Mode | Implementation | Component | Constraint error to be minimized |
|---|---|---|---|
| Position,PositionWithPd | constraint | velocity and position constraint | error = position_gain*(desired_position-actual_position)+velocity_gain*(desired_velocity-actual_velocity) |
| Velocity | constraint | pure velocity constraint | error = desired_velocity - actual_velocity |
| Torque | External Force | ||
| Pd | ??? | ??? | ??? |
Variants
Position(f64)Position Control with the desired joint position.
Same as Position, but you can set your own gains
Show fields
Velocity(f64)Velocity control with the desired joint velocity
Torque(f64)Torque control with the desired joint torque.
PD Control
Show fields
Auto Trait Implementations
impl RefUnwindSafe for ControlCommandimpl Send for ControlCommandimpl Sync for ControlCommandimpl Unpin for ControlCommandimpl UnwindSafe for ControlCommandBlanket Implementations
Mutably borrows from an owned value. Read more
type Output = T
type Output = TShould always be Self
The inverse inclusion map: attempts to construct self from the equivalent element of its
superset. Read more
pub fn is_in_subset(&self) -> bool
pub fn is_in_subset(&self) -> boolChecks if self is actually part of its subset T (and can be converted to it).
pub fn to_subset_unchecked(&self) -> SS
pub fn to_subset_unchecked(&self) -> SSUse with care! Same as self.to_subset but without any property checks. Always succeeds.
pub fn from_subset(element: &SS) -> SP
pub fn from_subset(element: &SS) -> SPThe inclusion map: converts self to the equivalent element of its superset.
pub fn vzip(self) -> V