Struct Torques 

pub struct Torques {
    pub tau_J: [f64; 7],
    pub motion_finished: bool,
}

Stores joint-level torque commands without gravity and friction.

Port of franka::Torques.

Fields

tau_J: [f64; 7]

Desired torques in [Nm].

motion_finished: bool

Determines whether to finish a currently running motion.

Implementations

impl Torques

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

Creates a new Torques instance from desired joint-level torques in [Nm].

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

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

Trait Implementations

impl Clone for Torques

fn clone(&self) -> Torques

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for Torques

impl Debug for Torques

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

Formats the value using the given formatter.

impl Finishable for Torques

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 PartialEq for Torques

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