Struct TuningUpdate 

#[non_exhaustive]
pub struct TuningUpdate {
    pub joint_stiffness: Option<[f64; 7]>,
    pub joint_damping: Option<[f64; 7]>,
    pub cartesian_stiffness: Option<f64>,
    pub ik_damping: Option<f64>,
    pub ik_nullspace_gain: Option<f64>,
    pub velocity_feedforward_gain: Option<f64>,
    pub velocity_feedforward_cutoff: Option<f64>,
    pub budget: Option<[f64; 3]>,
    pub rotation_budget: Option<[f64; 3]>,
}

A partial change to a LiveTuning: every field left None keeps the value it has.

#[non_exhaustive]: outside this crate there is no struct expression for it at all — functional update syntax included — so start from Default and assign what the update carries.

use franka::robot::target_control::TuningUpdate;

let mut update = TuningUpdate::default();
update.ik_damping = Some(0.2);

assert_eq!(update.ik_damping, Some(0.2));
assert_eq!(update.budget, None);

The form that reads as though it should work does not, and this is the gate that says so:

use franka::robot::target_control::TuningUpdate;

let update = TuningUpdate {
    ik_damping: Some(0.2),
    ..TuningUpdate::default()
};

The attribute buys the freedom to stop reading a field, not the freedom to add one: a new TuningUpdate field needs the matching LiveTuning field, which moves WORDS and the signature of to_words, and that is a major version either way.

Fields (Non-exhaustive)

Non-exhaustive structs could have additional fields added in future. Therefore, non-exhaustive structs cannot be constructed in external crates using the traditional Struct { .. } syntax; cannot be matched against without a wildcard ..; and struct update syntax will not work.

joint_stiffness: Option<[f64; 7]>

See LiveTuning::joint_stiffness.

joint_damping: Option<[f64; 7]>

See LiveTuning::joint_damping.

cartesian_stiffness: Option<f64>

See LiveTuning::cartesian_stiffness.

ik_damping: Option<f64>

See LiveTuning::ik_damping.

ik_nullspace_gain: Option<f64>

See LiveTuning::ik_nullspace_gain.

velocity_feedforward_gain: Option<f64>

See LiveTuning::velocity_feedforward_gain.

velocity_feedforward_cutoff: Option<f64>

See LiveTuning::velocity_feedforward_cutoff.

budget: Option<[f64; 3]>

See LiveTuning::budget.

rotation_budget: Option<[f64; 3]>

See LiveTuning::rotation_budget.

Trait Implementations

impl Clone for TuningUpdate

fn clone(&self) -> TuningUpdate

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for TuningUpdate

impl Debug for TuningUpdate

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

Formats the value using the given formatter.

impl Default for TuningUpdate

fn default() -> TuningUpdate

Returns the “default value” for a type.

impl PartialEq for TuningUpdate

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