Struct CartesianPose 

pub struct CartesianPose {
    pub O_T_EE: [f64; 16],
    pub elbow: [f64; 2],
    pub has_elbow: bool,
    pub motion_finished: bool,
}

Stores values for Cartesian pose motion generation.

Port of franka::CartesianPose.

Fields

O_T_EE: [f64; 16]

Homogeneous transformation O_T_EE_d, column major, that transforms from the end effector frame EE to base frame O.

elbow: [f64; 2]

Elbow configuration: elbow[0] is the position of the 3rd joint in [rad], elbow[1] the flip direction of the elbow (4th joint), +1 or -1.

has_elbow: bool

Whether there is a stored elbow configuration.

libfranka’s CartesianPose::hasElbow() reports elbow != {0, 0}; the constructors below reproduce that, so with_elbow([.., ..], [0.0, 0.0]) yields has_elbow == false.

motion_finished: bool

Determines whether to finish a currently running motion.

Implementations

impl CartesianPose

pub fn new(O_T_EE: [f64; 16]) -> Self

Creates a new CartesianPose without an elbow configuration.

O_T_EE is a column-major homogeneous transformation matrix.

pub fn with_elbow(O_T_EE: [f64; 16], elbow: [f64; 2]) -> Self

Creates a new CartesianPose with an elbow configuration.

pub fn validate(&self) -> FrankaResult<()>

Validates the command like libfranka’s control_loop.cpp does before sending it (checkMatrix(command.O_T_EE_c) and, if an elbow is set, checkElbow(command.elbow_c)).

Trait Implementations

impl ActiveMotionInput for CartesianPose

fn create_motion_command(&self) -> FrankaResult<MotionGeneratorCommand>

Validates the command and converts it into the wire motion command.

impl Clone for CartesianPose

fn clone(&self) -> CartesianPose

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for CartesianPose

impl Debug for CartesianPose

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

Formats the value using the given formatter.

impl Finishable for CartesianPose

fn is_finished(&self) -> bool

Whether the motion should terminate after this command has been processed.

fn set_finished(&mut self, finished: bool)

Sets the “terminate after this command” flag.

impl MotionGenerator for CartesianPose

const KIND: MotionGeneratorKind = MotionGeneratorKind::CartesianPosition

The motion generator this command type drives.

impl PartialEq for CartesianPose

fn eq(&self, other: &CartesianPose) -> 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 StructuralPartialEq for CartesianPose