Struct JointSent 

pub struct JointSent {

    pub q: [f64; 7],
    pub target: [f64; 7],
    pub velocity: [f64; 7],
    pub acceleration: [f64; 7],
    pub backstop_alteration: f64,
    pub q_goal: [f64; 7],
    pub dq_goal: [f64; 7],
    pub cap_scale: f64,
    pub pinned: [i8; 7],
    pub tau: [f64; 7],
    pub tau_envelope: [f64; 7],
    pub tau_position: [f64; 7],
    pub leash_alteration: f64,
}

What one cycle sent, for the observer.

Fields

q: [f64; 7]

The joint positions that went to the robot (after the backstop), or with Backend::Impedance the generator’s output the law tracks, rad.

target: [f64; 7]

The target the generator was planning towards, rad.

velocity: [f64; 7]

The generator’s velocity at the end of the cycle, rad/s.

acceleration: [f64; 7]

The generator’s acceleration at the end of the cycle, rad/s^2.

backstop_alteration: f64

The most the backstop moved any joint of the generator’s position, rad; zero without limit_rate and with Backend::Impedance. Microradians are the noise of the limiter’s velocity and acceleration reference, the robot’s float32 echo (FCI v10); milliradians mean the generator is outrunning the limits.

q_goal: [f64; 7]

The joint target of the impedance law, rad; zeros with Backend::RobotController.

dq_goal: [f64; 7]

The joint goal’s velocity, rad/s: the finite difference of q_goal the law feeds forward, under the joint velocity cap; zeros while holding and with Backend::RobotController.

cap_scale: f64

The scale this cycle’s goal step was cut by to stay in the joint limits’ box: under ImpedanceOptions::joint_velocity_fraction of the joint velocity limits, and braking to stop at ImpedanceOptions::joint_position_margin. Exactly 1 when it was not, and with Backend::RobotController.

pinned: [i8; 7]

Per joint, the bound that cut the step: 0 none, -1 / +1 the lower / upper position bound, -2 / +2 the velocity bound; zeros with Backend::RobotController.

tau: [f64; 7]

The torques sent, Nm, clamped to the torque limits; zeros with Backend::RobotController.

tau_envelope: [f64; 7]

The velocity envelope’s share of tau, Nm, before the clamp: the barrier opposing every joint measured faster than ImpedanceOptions::velocity_barrier_fraction of its limit, less the law’s torque along a joint’s motion faded out above the fade’s start (FADE_BAND); zeros below it and with Backend::RobotController.

tau_position: [f64; 7]

The position envelope’s share of tau, Nm, before the clamp; see CartesianSent::tau_position. Zeros with Backend::RobotController.

leash_alteration: f64

The most, rad, the leash pulled any joint of the generator’s anchor back from the previous goal toward the measured position: zero while the arm follows, positive while it is held back (Leash); 0 with Backend::RobotController.

Trait Implementations

impl Clone for JointSent

fn clone(&self) -> JointSent

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for JointSent

impl Debug for JointSent

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

Formats the value using the given formatter.

impl PartialEq for JointSent

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