Struct JointVelocityLimitsConfig 

pub struct JointVelocityLimitsConfig { /* private fields */ }

Position-based joint velocity limit parameters for all seven joints.

Port of franka::JointVelocityLimitsConfig.

Implementations

impl JointVelocityLimitsConfig

pub fn from_urdf(urdf: &str) -> FrankaResult<Self>

Parses the joint velocity limit parameters from a URDF string.

Port of JointVelocityLimitsConfig::parseFromURDF. Every <joint> element whose name matches (exactly, or as a substring, so fr3_joint1 matches too) one of joint1 .. joint7 must carry a <limit> element with velocity, upper and lower attributes and a <position_based_velocity_limits> element with velocity_offset and deceleration_limit attributes; all seven joints must be present.

Errors

FrankaError::InvalidArgument (libfranka throws std::runtime_error) if the string is not valid XML, has no <robot> root, misses one of the elements, attributes or joints, or if an attribute is not a number.

pub fn joint_params(&self) -> &[PositionBasedJointVelocityLimitConstants; 7]

Joint velocity limit parameters of all joints.

Port of JointVelocityLimitsConfig::getJointParams.

pub fn upper_limits(&self, q: &[f64; 7]) -> [f64; 7]

Computes the upper joint velocity limits at the given joint positions.

Port of JointVelocityLimitsConfig::getUpperJointVelocityLimits.

pub fn lower_limits(&self, q: &[f64; 7]) -> [f64; 7]

Computes the lower joint velocity limits at the given joint positions.

Port of JointVelocityLimitsConfig::getLowerJointVelocityLimits.

Trait Implementations

impl Clone for JointVelocityLimitsConfig

fn clone(&self) -> JointVelocityLimitsConfig

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for JointVelocityLimitsConfig

impl Debug for JointVelocityLimitsConfig

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

Formats the value using the given formatter.

impl Default for JointVelocityLimitsConfig

fn default() -> JointVelocityLimitsConfig

Returns the “default value” for a type.

impl Index<usize> for JointVelocityLimitsConfig

fn index(&self, joint_index: usize) -> &Self::Output

Port of JointVelocityLimitsConfig::operator[].

type Output = PositionBasedJointVelocityLimitConstants

The returned type after indexing.

impl PartialEq for JointVelocityLimitsConfig

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