Struct ActiveMotionGenerator 

pub struct ActiveMotionGenerator<'a, T: ActiveMotionInput> { /* private fields */ }

An externally driven motion generator (Robot::start_*_control).

T is one of JointPositions, JointVelocities, CartesianPose or CartesianVelocities.

Threading

Unlike crate::Robot, which is Send + Sync, this type is !Send: it holds the std::sync::MutexGuard for the robot’s control lock (franka::assertOwningLock) for as long as the motion runs, and a MutexGuard may not cross threads. Read and write the motion from the thread that started it; a crate::Robot::stop from another thread still works, because it goes through the Arc<Robot> and not through this handle.

Implementations

impl<'a, T: ActiveMotionInput> ActiveMotionGenerator<'a, T>

pub fn read_once(&mut self) -> FrankaResult<(RobotState, Duration)>

Waits for the next robot state and returns it together with the time elapsed since the previous read_once (zero on the first call).

pub fn write_once( &mut self, motion_input: &T, control_input: Option<&Torques>, ) -> FrankaResult<()>

Sends the next motion setpoint, and the torques when the motion runs with an external controller.

control_input must be Some if and only if the motion was started with MoveControllerMode::ExternalController. Setting motion_finished on either input ends the control process.

Errors

FrankaError::Control if the motion has already finished, if torques are given without an external controller (or missing with one), or if the motion was aborted; FrankaError::InvalidArgument for non-finite values, an invalid transformation matrix or an invalid elbow configuration.