Struct Otg 

pub struct Otg { /* private fields */ }

A single-axis online trajectory generator; see the module documentation.

Implementations

impl Otg

pub fn new(position: f64, limits: OtgLimits) -> FrankaResult<Self>

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

Errors

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

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

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

Errors

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

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

Re-anchors the generator on the position actually commanded – the robot’s echo of the last command – keeping its own velocity, acceleration and target, so that whatever runs behind it can shape one command but never build up a lag it plans against.

Errors

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

pub fn set_state( &mut self, position: f64, velocity: f64, acceleration: f64, ) -> FrankaResult<()>

Sets the whole state; the target is kept. The velocity and acceleration are clamped into the limits. They must be the state at the end of the last cycle, as this generator’s are: a finite difference such as the robot’s O_dP_EE_c is the mean over the cycle, half an acceleration step behind, and re-anchoring on that every cycle throttles the plan to a crawl – use set_position with an echo.

Errors

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

pub fn reset(&mut self, position: f64)

Puts the generator at rest at position, with the target there too.

pub fn step(&mut self, dt: f64) -> f64

Advances the state by dt seconds along the re-planned profile and returns the new position. A dt that is not positive and finite leaves the state untouched.

pub fn position(&self) -> f64

The current position.

pub fn velocity(&self) -> f64

The current velocity.

pub fn acceleration(&self) -> f64

The current acceleration.

pub fn target(&self) -> f64

The current target.

pub fn duration(&self) -> f64

The duration of the time-optimal profile from the current state to rest at the target; zero when at rest there.

Trait Implementations

impl Clone for Otg

fn clone(&self) -> Otg

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for Otg

impl Debug for Otg

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

Formats the value using the given formatter.