Struct MultiOtg 

pub struct MultiOtg<const N: usize> { /* private fields */ }

N Otgs with the same limits, stepped together, optionally synchronised so that all axes arrive at their targets at the same time (the faster axes are slowed down).

Implementations

impl<const N: usize> MultiOtg<N>

pub fn new( position: [f64; N], limits: OtgLimits, synchronize: bool, ) -> FrankaResult<Self>

A generator at rest at position, whose target is position.

Errors

FrankaError::InvalidArgument if a coordinate is not finite or a limit is not finite and positive.

pub fn with_limits( position: [f64; N], limits: [OtgLimits; N], synchronize: bool, ) -> FrankaResult<Self>

MultiOtg::new with limits of its own for every axis, which is what seven joints with seven different envelopes need.

Errors

FrankaError::InvalidArgument if a coordinate is not finite or a limit is not finite and positive.

pub fn set_target(&mut self, target: [f64; N]) -> FrankaResult<()>

Sets the target position; the next step re-plans towards it.

Errors

FrankaError::InvalidArgument, with the target unchanged, if a coordinate is not finite.

pub fn step(&mut self, dt: f64) -> [f64; N]

Advances every axis by dt seconds and returns the new position. A dt that is not positive and finite leaves the state untouched.

pub fn position(&self) -> [f64; N]

The current position.

pub fn axes(&self) -> &[Otg; N]

The per-axis generators, for their velocities, accelerations and targets.

pub fn set_position(&mut self, position: [f64; N]) -> FrankaResult<()>

Re-anchors every axis on the position actually commanded; see Otg::set_position.

Errors

FrankaError::InvalidArgument, with the state unchanged, if a coordinate is not finite.

pub fn set_state( &mut self, p: [f64; N], v: [f64; N], a: [f64; N], ) -> FrankaResult<()>

Sets every axis’s state; see Otg::set_state for what the velocity and acceleration must be.

Errors

FrankaError::InvalidArgument, with the state unchanged, if a value is not finite.

pub fn reset(&mut self, position: [f64; N])

Puts every axis at rest at position, with the target there too.

Trait Implementations

impl<const N: usize> Clone for MultiOtg<N>

fn clone(&self) -> MultiOtg<N>

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl<const N: usize> Copy for MultiOtg<N>

impl<const N: usize> Debug for MultiOtg<N>

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

Formats the value using the given formatter.