Struct JointVelocities 

pub struct JointVelocities {
    pub dq: [f64; 7],
    pub motion_finished: bool,
}

Stores values for joint velocity motion generation.

Port of franka::JointVelocities.

Fields

dq: [f64; 7]

Desired joint velocities in [rad/s].

motion_finished: bool

Determines whether to finish a currently running motion.

Implementations

impl JointVelocities

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

Creates a new JointVelocities instance from desired joint velocities in [rad/s].

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

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

Trait Implementations

impl ActiveMotionInput for JointVelocities

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

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

impl Clone for JointVelocities

fn clone(&self) -> JointVelocities

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for JointVelocities

impl Debug for JointVelocities

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

Formats the value using the given formatter.

impl Finishable for JointVelocities

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 JointVelocities

const KIND: MotionGeneratorKind = MotionGeneratorKind::JointVelocity

The motion generator this command type drives.

impl PartialEq for JointVelocities

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