Struct JointTargetControlOptions 

pub struct JointTargetControlOptions {
    pub limits: Option<[OtgLimits; 7]>,
    pub backend: Backend,
    pub controller_mode: ControllerMode,
    pub max_deviation: f64,
    pub settle: Settle,
    pub limit_rate: bool,
    pub realtime_priority: Option<i32>,
    pub observer: Option<JointObserver>,
}

Options of Robot::start_joint_target_control; Default is the documented starting point and the with_* methods change one field each.

Fields

limits: Option<[OtgLimits; 7]>

Per-joint limits, rad/s, rad/s^2, rad/s^3, for the generator and, with Backend::RobotController, the backstop alike. None, the default, is JointTargetControlOptions::scaled_limits of the negotiated FCI version at DEFAULT_LIMIT_FRACTION, resolved when the loop starts.

backend: Backend

What turns the generator’s joint positions into a command: the crate’s impedance law sending torques, or a position stream to the robot’s own controller. Default Backend::Impedance of ImpedanceOptions::joint.

controller_mode: ControllerMode

The robot’s internal controller, with Backend::RobotController only. Default ControllerMode::JointImpedance.

max_deviation: f64

How far, rad, any measured joint may stray from its start before the target is frozen and the loop ends with super::DEVIATION_MESSAGE. Default 1.0.

settle: Settle

When a stop counts as settled. Default 1 mrad for 250 cycles.

limit_rate: bool

Whether limit_rate_joint_positions runs under the limits as the backstop, with the loop’s own libfranka limiter behind it; with Backend::Impedance, whether the torque rate limiter runs. Default true.

realtime_priority: Option<i32>

SCHED_FIFO priority for the loop thread; None is the highest, as in Robot::new.

observer: Option<JointObserver>

Called every cycle on the realtime thread; see JointObserver.

Implementations

impl JointTargetControlOptions

pub fn scaled_limits(version: FciVersion, fraction: f64) -> [OtgLimits; 7]

fraction of version’s joint limits: the FR3’s flat velocity caps or the FER’s MAX_JOINT_VELOCITY, and the version’s MAX_JOINT_ACCELERATION and MAX_JOINT_JERK.

pub fn with_limits(self, limits: [OtgLimits; 7]) -> Self

Sets the per-joint limits.

pub fn with_backend(self, backend: Backend) -> Self

Sets the backend.

pub fn with_controller_mode(self, mode: ControllerMode) -> Self

Sets the robot’s internal controller (Backend::RobotController only).

pub fn with_max_deviation(self, radians: f64) -> Self

Sets the deviation guard, rad.

pub fn with_settle(self, settle: Settle) -> Self

Sets the settle criterion.

pub fn with_limit_rate(self, limit_rate: bool) -> Self

Switches the backstop and the loop’s limiter.

pub fn with_realtime_priority(self, priority: Option<i32>) -> Self

Sets the loop thread’s SCHED_FIFO priority (None: the highest).

pub fn with_observer( self, observer: impl FnMut(&RobotState, &JointSent) + Send + 'static, ) -> Self

Installs the observer.

pub fn validate(&self) -> FrankaResult<()>

Checks the options without starting anything.

Errors

crate::error::FrankaError::InvalidArgument naming the field.

Trait Implementations

impl Debug for JointTargetControlOptions

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

Formats the value using the given formatter.

impl Default for JointTargetControlOptions

fn default() -> Self

Returns the “default value” for a type.