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PositionBasedJointVelocityLimitConstants

franka::joint_velocity_limits

Struct PositionBasedJointVelocityLimitConstants 

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pub struct PositionBasedJointVelocityLimitConstants {
    pub max_velocity: f64,
    pub velocity_offset: f64,
    pub deceleration_limit: f64,
    pub upper_position_limit: f64,
    pub lower_position_limit: f64,
}
Expand description

Position-based joint velocity limit constants for a single joint, read from the URDF.

Port of franka::PositionBasedJointVelocityLimitConstants.

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§max_velocity: f64

Maximum velocity (URDF <limit velocity>).

§velocity_offset: f64

Velocity offset (URDF <position_based_velocity_limits velocity_offset>).

§deceleration_limit: f64

Deceleration limit (URDF <position_based_velocity_limits deceleration_limit>).

§upper_position_limit: f64

Upper position limit (URDF <limit upper>).

§lower_position_limit: f64

Lower position limit (URDF <limit lower>).

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impl PositionBasedJointVelocityLimitConstants

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pub fn new( max_velocity: f64, velocity_offset: f64, deceleration_limit: f64, upper_position_limit: f64, lower_position_limit: f64, ) -> Self

Creates the constants for one joint.

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impl Clone for PositionBasedJointVelocityLimitConstants

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fn clone(&self) -> PositionBasedJointVelocityLimitConstants

Returns a duplicate of the value. Read more
1.0.0 (const: unstable) · Source§

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

Performs copy-assignment from source. Read more
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impl Copy for PositionBasedJointVelocityLimitConstants

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impl Debug for PositionBasedJointVelocityLimitConstants

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

Formats the value using the given formatter. Read more
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impl Default for PositionBasedJointVelocityLimitConstants

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fn default() -> PositionBasedJointVelocityLimitConstants

Returns the “default value” for a type. Read more
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impl PartialEq for PositionBasedJointVelocityLimitConstants

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fn eq(&self, other: &PositionBasedJointVelocityLimitConstants) -> bool

Tests for self and other values to be equal, and is used by ==.
1.0.0 (const: unstable) · Source§

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.
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impl StructuralPartialEq for PositionBasedJointVelocityLimitConstants

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impl<T> Any for T
where T: 'static + ?Sized,

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fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more
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impl<T> Borrow<T> for T
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fn borrow(&self) -> &T

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impl<T> BorrowMut<T> for T
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fn borrow_mut(&mut self) -> &mut T

Mutably borrows from an owned value. Read more
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impl<ST, DT> CastableFrom<ST, Initialized, Initialized> for DT
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impl<ST, DT> CastableFrom<ST, Uninit, Uninit> for DT
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impl<T> CloneToUninit for T
where T: Clone,

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unsafe fn clone_to_uninit(&self, dest: *mut u8)

🔬This is a nightly-only experimental API. (clone_to_uninit)
Performs copy-assignment from self to dest. Read more
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impl<T> From<T> for T

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fn from(t: T) -> T

Returns the argument unchanged.

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impl<T, U> Into<U> for T
where U: From<T>,

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fn into(self) -> U

Calls U::from(self).

That is, this conversion is whatever the implementation of From<T> for U chooses to do.

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impl<T> Read<Exclusive, BecauseExclusive> for T
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impl<T> Same for T

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type Output = T

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impl<T> Scalar for T
where T: 'static + Clone + PartialEq + Debug,

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impl<SS, SP> SupersetOf<SS> for SP
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fn to_subset(&self) -> Option<SS>

The inverse inclusion map: attempts to construct self from the equivalent element of its superset. Read more
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fn is_in_subset(&self) -> bool

Checks if self is actually part of its subset T (and can be converted to it).
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fn to_subset_unchecked(&self) -> SS

Use with care! Same as self.to_subset but without any property checks. Always succeeds.
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fn from_subset(element: &SS) -> SP

The inclusion map: converts self to the equivalent element of its superset.
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where T: Clone,

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type Owned = T

The resulting type after obtaining ownership.
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fn to_owned(&self) -> T

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fn clone_into(&self, target: &mut T)

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impl<T, U> TryFrom<U> for T
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type Error = Infallible

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fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>

Performs the conversion.
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type Error = <U as TryFrom<T>>::Error

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fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>

Performs the conversion.