Struct JointTargetControl 

pub struct JointTargetControl { /* private fields */ }

The handle of a running joint target control; see the module documentation.

Implementations

impl JointTargetControl

pub fn set_joints(&self, q: [f64; 7]) -> FrankaResult<()>

Sets the target joint positions, rad. Callable from any thread at any rate; only the latest target counts.

Errors

crate::error::FrankaError::InvalidArgument if a value is not finite or outside the arm’s joint position limits inset by JOINT_LIMIT_INSET, crate::error::FrankaError::InvalidOperation with super::ENDED_MESSAGE once the loop has ended for any reason.

pub fn target(&self) -> [f64; 7]

The latest target set (the start configuration until the first set_joints).

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 the deviation guard fired.