Struct CartesianTargetControl 

pub struct CartesianTargetControl { /* private fields */ }

The handle of a running Cartesian target control; see the module documentation. The target is a pose; orientations are unit quaternions in [x, y, z, w] order (the scalar part last) or the rotation block of a column-major pose as in O_T_EE.

Implementations

impl CartesianTargetControl

pub fn set_position(&self, position_in_base: [f64; 3]) -> FrankaResult<()>

Sets the target position, absolute, in the base frame, m; the target orientation stays what it is. Callable from any thread at any rate; only the latest target counts.

Errors

crate::error::FrankaError::InvalidArgument if a coordinate is not finite, crate::error::FrankaError::InvalidOperation with super::ENDED_MESSAGE once the loop has ended for any reason.

pub fn set_orientation(&self, orientation_xyzw: [f64; 4]) -> FrankaResult<()>

Sets the target orientation, absolute, in the base frame, as a unit quaternion in [x, y, z, w] order; the target position stays what it is.

Errors

crate::error::FrankaError::InvalidArgument if a component is not finite or the norm is further than super::UNIT_QUATERNION_TOLERANCE from one (within it, the quaternion is normalised), crate::error::FrankaError::InvalidOperation with super::ENDED_MESSAGE once the loop has ended.

pub fn set_target( &self, position_in_base: [f64; 3], orientation_xyzw: [f64; 4], ) -> FrankaResult<()>

Sets the target position, m, and orientation, a unit quaternion in [x, y, z, w] order (the scalar part w last), both absolute in the base frame.

Errors

As set_position and set_orientation.

pub fn set_pose(&self, pose: &[f64; 16]) -> FrankaResult<()>

Sets the target pose, a column-major 4x4 transform in the base frame as O_T_EE.

Errors

crate::error::FrankaError::InvalidArgument if an entry is not finite, the last row is not [0, 0, 0, 1] or the rotation block is further than super::ORTHONORMAL_TOLERANCE from orthonormal (within it, it is re-orthonormalised), crate::error::FrankaError::InvalidOperation with super::ENDED_MESSAGE once the loop has ended.

pub fn target(&self) -> [f64; 3]

The latest target position (the start until something sets it).

pub fn target_orientation(&self) -> [f64; 4]

The latest target orientation, [x, y, z, w].

pub fn target_pose(&self) -> [f64; 16]

The latest target pose, column-major as O_T_EE.

pub fn state(&self) -> RobotState

The latest robot state the loop received, copied out.

pub fn is_running(&self) -> bool

Whether the loop is still running; false after it ended for any reason.

pub fn stop(self) -> FrankaResult<()>

Settles at the current target, finishes the motion, joins the thread and returns the loop’s result: Ok for a regular end, crate::error::FrankaError::Control if the robot aborted the motion or a deviation guard fired.