Struct RobotCommandLog 

pub struct RobotCommandLog {
    pub q_c: [f64; 7],
    pub dq_c: [f64; 7],
    pub O_T_EE_c: [f64; 16],
    pub O_dP_EE_c: [f64; 6],
    pub elbow_c: [f64; 2],
    pub tau_J_d: [f64; 7],
}

The robot command that was sent in one cycle, as recorded in the control log.

Fields

q_c: [f64; 7]

Commanded joint positions, in rad.

dq_c: [f64; 7]

Commanded joint velocities, in rad/s.

O_T_EE_c: [f64; 16]

Commanded end-effector pose in base frame, a column-major 4x4 homogeneous transform (translation in m).

O_dP_EE_c: [f64; 6]

Commanded end-effector twist in base frame: linear m/s then angular rad/s.

elbow_c: [f64; 2]

Commanded elbow configuration: joint-3 position in rad and the sign of joint 4.

tau_J_d: [f64; 7]

Commanded joint torques without gravity and friction, in Nm.

Trait Implementations

impl Clone for RobotCommandLog

fn clone(&self) -> RobotCommandLog

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for RobotCommandLog

impl Debug for RobotCommandLog

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

Formats the value using the given formatter.

impl Default for RobotCommandLog

fn default() -> RobotCommandLog

Returns the “default value” for a type.

impl PartialEq for RobotCommandLog

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