Struct CartesianVelocities 

pub struct CartesianVelocities {
    pub O_dP_EE: [f64; 6],
    pub elbow: [f64; 2],
    pub has_elbow: bool,
    pub motion_finished: bool,
}

Stores values for Cartesian velocity motion generation.

Port of franka::CartesianVelocities.

Fields

O_dP_EE: [f64; 6]

Cartesian velocity with respect to the base frame O: (dx, dy, dz) in [m/s] and (omega_x, omega_y, omega_z) in [rad/s].

elbow: [f64; 2]

Elbow configuration, see CartesianPose::elbow.

has_elbow: bool

Whether there is a stored elbow configuration, see CartesianPose::has_elbow.

motion_finished: bool

Determines whether to finish a currently running motion.

Implementations

impl CartesianVelocities

pub fn new(O_dP_EE: [f64; 6]) -> Self

Creates a new CartesianVelocities without an elbow configuration.

pub fn with_elbow(O_dP_EE: [f64; 6], elbow: [f64; 2]) -> Self

Creates a new CartesianVelocities with an elbow configuration.

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

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

Trait Implementations

impl ActiveMotionInput for CartesianVelocities

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

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

impl Clone for CartesianVelocities

fn clone(&self) -> CartesianVelocities

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for CartesianVelocities

impl Debug for CartesianVelocities

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

Formats the value using the given formatter.

impl Finishable for CartesianVelocities

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 CartesianVelocities

const KIND: MotionGeneratorKind = MotionGeneratorKind::CartesianVelocity

The motion generator this command type drives.

impl PartialEq for CartesianVelocities

fn eq(&self, other: &CartesianVelocities) -> 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 CartesianVelocities