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CommandName

franka::robot::commands

Enum CommandName

pub enum CommandName {
Show 13 variants    GetRobotModel,
    Move,
    StopMove,
    GetCartesianLimit,
    SetCollisionBehavior,
    SetJointImpedance,
    SetCartesianImpedance,
    SetGuidingMode,
    SetEEToK,
    SetNEToEE,
    SetLoad,
    SetFilters,
    AutomaticErrorRecovery,
}

Expand description

The command names libfranka puts into its error texts (research_interface::robot::CommandTraits<T>::kName).

Variants§

GetRobotModel

Fetches the robot’s URDF ("Get Robot Model"). FCI v10 only.

Move

Starts a motion ("Move").

StopMove

Stops the running motion ("Stop Move"), the command behind crate::Robot::stop.

GetCartesianLimit

Reads a virtual wall cuboid ("Get Cartesian Limit"). FCI v5 only (Robot::getVirtualWall).

SetCollisionBehavior

Port of franka::Robot::setCollisionBehavior ("Set Collision Behavior").

SetJointImpedance

Port of franka::Robot::setJointImpedance ("Set Joint Impedance").

SetCartesianImpedance

Port of franka::Robot::setCartesianImpedance ("Set Cartesian Impedance").

SetGuidingMode

Port of franka::Robot::setGuidingMode ("Set Guiding Mode").

SetEEToK

Port of franka::Robot::setK ("Set EE To K").

SetNEToEE

Port of franka::Robot::setEE ("Set NE To EE").

SetLoad

Port of franka::Robot::setLoad ("Set Load").

SetFilters

Port of franka::Robot::setFilters ("Set Filters"). FCI v5 only.

AutomaticErrorRecovery

Clears a reflex and re-enables motion ("Automatic Error Recovery"), the command behind crate::Robot::automatic_error_recovery.

Implementations§

impl CommandName

pub const fn as_str(self) -> &'static str

The name used in error messages.

pub const fn command(self, version: FciVersion) -> Option<u32>

The wire command id of this command under version, or None when that FCI version does not have the command (Get Robot Model on an FER, Set Filters and Get Cartesian Limit on an FR3).

This replaces the version-less command() of the FR3-only releases: the two protocol versions number their commands differently from SetCollisionBehavior onwards, so a wire id is only meaningful together with a version. RobotImpl::command_id is the same lookup against a live connection’s negotiated version, with the FrankaError::InvalidOperation text libfranka would print.

Trait Implementations§

impl Clone for CommandName

fn clone(&self) -> CommandName

Returns a duplicate of the value. Read more

1.0.0 (const: unstable) · Source§

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

Performs copy-assignment from source. Read more

impl Copy for CommandName

impl Debug for CommandName

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

Formats the value using the given formatter. Read more

impl Eq for CommandName

impl PartialEq for CommandName

fn eq(&self, other: &CommandName) -> bool

Tests for self and other values to be equal, and is used by ==.

1.0.0 (const: unstable) · Source§

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 CommandName

Auto Trait Implementations§

impl Freeze for CommandName

impl RefUnwindSafe for CommandName

impl Send for CommandName

impl Sync for CommandName

impl Unpin for CommandName

impl UnsafeUnpin for CommandName

impl UnwindSafe for CommandName

Blanket Implementations§

impl<T> Any for T
where T: 'static + ?Sized,

fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more

impl<T> Borrow<T> for T
where T: ?Sized,

fn borrow(&self) -> &T

Immutably borrows from an owned value. Read more

impl<T> BorrowMut<T> for T
where T: ?Sized,

fn borrow_mut(&mut self) -> &mut T

Mutably borrows from an owned value. Read more

impl<ST, DT> CastableFrom<ST, Initialized, Initialized> for DT
where ST: ?Sized, DT: ?Sized,

impl<ST, DT> CastableFrom<ST, Uninit, Uninit> for DT
where ST: ?Sized, DT: ?Sized,

impl<T> CloneToUninit for T
where T: Clone,

unsafe fn clone_to_uninit(&self, dest: *mut u8)

🔬This is a nightly-only experimental API. (clone_to_uninit)

Performs copy-assignment from self to dest. Read more

impl<T> From<T> for T

fn from(t: T) -> T

Returns the argument unchanged.

impl<T, U> Into<U> for T
where U: From<T>,

fn into(self) -> U

Calls U::from(self).

That is, this conversion is whatever the implementation of From<T> for U chooses to do.

impl<T> Read<Exclusive, BecauseExclusive> for T
where T: ?Sized,

impl<T> Same for T

type Output = T

Should always be Self

impl<T> Scalar for T
where T: 'static + Clone + PartialEq + Debug,

impl<SS, SP> SupersetOf<SS> for SP
where SS: SubsetOf<SP>,

fn to_subset(&self) -> Option<SS>

The inverse inclusion map: attempts to construct self from the equivalent element of its superset. Read more

fn is_in_subset(&self) -> bool

Checks if self is actually part of its subset T (and can be converted to it).

fn to_subset_unchecked(&self) -> SS

Use with care! Same as self.to_subset but without any property checks. Always succeeds.

fn from_subset(element: &SS) -> SP

The inclusion map: converts self to the equivalent element of its superset.

impl<T> ToOwned for T
where T: Clone,

type Owned = T

The resulting type after obtaining ownership.

fn to_owned(&self) -> T

Creates owned data from borrowed data, usually by cloning. Read more

fn clone_into(&self, target: &mut T)

Uses borrowed data to replace owned data, usually by cloning. Read more

impl<T, U> TryFrom<U> for T
where U: Into<T>,

type Error = Infallible

The type returned in the event of a conversion error.

fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>

Performs the conversion.

impl<T, U> TryInto<U> for T
where U: TryFrom<T>,

type Error = <U as TryFrom<T>>::Error

The type returned in the event of a conversion error.

fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>

Performs the conversion.