Struct JointPositions 

pub struct JointPositions {
    pub q: [f64; 7],
    pub motion_finished: bool,
}

Stores values for joint position motion generation.

Port of franka::JointPositions.

Fields

q: [f64; 7]

Desired joint angles in [rad].

motion_finished: bool

Determines whether to finish a currently running motion.

Implementations

impl JointPositions

pub fn new(q: [f64; 7]) -> Self

Creates a new JointPositions instance from desired joint angles in [rad].

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

Validates the command like libfranka’s control_loop.cpp does before sending it (checkFinite(command.q_c)).

Trait Implementations

impl ActiveMotionInput for JointPositions

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

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

impl Clone for JointPositions

fn clone(&self) -> JointPositions

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for JointPositions

impl Debug for JointPositions

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

Formats the value using the given formatter.

impl Finishable for JointPositions

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 JointPositions

const KIND: MotionGeneratorKind = MotionGeneratorKind::JointPosition

The motion generator this command type drives.

impl PartialEq for JointPositions

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