Struct TargetControlOptions 

pub struct TargetControlOptions {
    pub limits: OtgLimits,
    pub rotation_limits: OtgLimits,
    pub backend: Backend,
    pub controller_mode: ControllerMode,
    pub max_deviation: f64,
    pub max_angular_deviation: f64,
    pub settle: Settle,
    pub limit_rate: bool,
    pub realtime_priority: Option<i32>,
    pub observer: Option<CartesianObserver>,
}

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

Fields

limits: OtgLimits

The translational budget as a norm: m/s, m/s^2, m/s^3. The generator gets OtgLimits::per_axis_for_norm(3) of it and the backstop the norm itself. Default 0.3, 0.5, 20: measured on a real FER, the robot’s joint-space continuity check refuses 2.5 m/s^2 near the ready pose and its collision threshold trips above about 1 m/s^2, so the default sits well below both.

rotation_limits: OtgLimits

The rotational budget as a norm: rad/s, rad/s^2, rad/s^3; the generator gets libfranka’s pose-interface factor (0.99) of its per_axis_for_norm(3), the backstop applies that factor itself. Default 0.5, 1.0, 20: a fifth of the FR3’s velocity limit, validated on the simulator’s joint-side check only.

backend: Backend

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

controller_mode: ControllerMode

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

max_deviation: f64

How far, m, the measured O_T_EE position may stray from the start before the target is frozen and the loop ends with super::DEVIATION_MESSAGE. Default 0.30.

max_angular_deviation: f64

How far, rad, the measured O_T_EE orientation may turn from the start before the same guard fires. Default 0.5.

settle: Settle

When a stop counts as settled; the tolerance applies to the position in m and to the orientation error in rad alike. Default 1 mm and 1 mrad for 250 cycles.

limit_rate: bool

Whether limit_rate_cartesian_pose runs under the two budgets 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<CartesianObserver>

Called every cycle on the realtime thread; see CartesianObserver.

Implementations

impl TargetControlOptions

pub fn with_limits(self, limits: OtgLimits) -> Self

Sets the translational norm budget.

pub fn with_rotation_limits(self, limits: OtgLimits) -> Self

Sets the rotational norm budget (rad/s, rad/s^2, rad/s^3).

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, metres: f64) -> Self

Sets the deviation guard on the position, m.

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

Sets the deviation guard on the orientation, 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, &CartesianSent) + 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 TargetControlOptions

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

Formats the value using the given formatter.

impl Default for TargetControlOptions

fn default() -> Self

Returns the “default value” for a type.