Enum Frame 

pub enum Frame {
    Joint1,
    Joint2,
    Joint3,
    Joint4,
    Joint5,
    Joint6,
    Joint7,
    Flange,
    EndEffector,
    Stiffness,
}

The seven joints, the flange, the end effector and the stiffness frame.

Port of franka::Frame (include/franka/model.h); the variants are in the same order as the C++ enumerators kJoint1 .. kStiffness.

Variants

Joint1

Frame of joint 1.

Joint2

Frame of joint 2.

Joint3

Frame of joint 3.

Joint4

Frame of joint 4.

Joint5

Frame of joint 5.

Joint6

Frame of joint 6.

Joint7

Frame of joint 7.

Flange

Flange frame (the link8 frame of the URDF).

EndEffector

End-effector frame, i.e. the flange frame post-multiplied by F_T_EE.

Stiffness

Stiffness frame K, i.e. the end-effector frame post-multiplied by EE_T_K.

Implementations

impl Frame

pub const ALL: [Frame; 10]

All frames, in the order of the C++ enumerators.

pub fn joint_index(self) -> Option<usize>

The joint index (1..=7) of a joint frame, None for the others.

Trait Implementations

impl Clone for Frame

fn clone(&self) -> Frame

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for Frame

impl Debug for Frame

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

Formats the value using the given formatter.

impl Eq for Frame

impl Hash for Frame

fn hash<__H: Hasher>(&self, state: &mut __H)

Feeds this value into the given Hasher.

fn hash_slice<H>(data: &[Self], state: &mut H)

where H: Hasher, Self: Sized,

Feeds a slice of this type into the given Hasher.

impl Ord for Frame

fn cmp(&self, other: &Frame) -> Ordering

This method returns an Ordering between self and other.

fn max(self, other: Self) -> Self

where Self: Sized,

Compares and returns the maximum of two values.

fn min(self, other: Self) -> Self

where Self: Sized,

Compares and returns the minimum of two values.

fn clamp(self, min: Self, max: Self) -> Self

where Self: Sized,

Restrict a value to a certain interval.

impl PartialEq for Frame

fn eq(&self, other: &Frame) -> 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 PartialOrd for Frame

fn partial_cmp(&self, other: &Frame) -> Option<Ordering>

This method returns an ordering between self and other values if one exists.

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

Tests less than (for self and other) and is used by the < operator.

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

Tests less than or equal to (for self and other) and is used by the <= operator.

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

Tests greater than (for self and other) and is used by the > operator.

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

Tests greater than or equal to (for self and other) and is used by the >= operator.

impl StructuralPartialEq for Frame