Enum RealtimeConfig 

pub enum RealtimeConfig {
    Enforce,
    Ignore,
}

Whether a control loop insists on realtime scheduling (mirrors franka::RealtimeConfig).

Variants

Enforce

Require a realtime kernel and raise the control thread to the highest SCHED_FIFO priority; fail with crate::error::FrankaError::Realtime if either is impossible. This is libfranka’s default.

Ignore

Run anyway on a non-realtime kernel or without the privileges to change the scheduler.

Useful against franka-sim and for exploratory work; the loop will miss cycles under load, which the robot reports as a falling control_command_success_rate and, eventually, a communication_constraints_violation reflex.

Trait Implementations

impl Clone for RealtimeConfig

fn clone(&self) -> RealtimeConfig

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for RealtimeConfig

impl Debug for RealtimeConfig

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

Formats the value using the given formatter.

impl Default for RealtimeConfig

fn default() -> RealtimeConfig

Returns the “default value” for a type.

impl Eq for RealtimeConfig

impl PartialEq for RealtimeConfig

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