Crate arci

arci

Abstract Robot Control Interface.

How to add trait

1. Add module and trait to arci/traits.
2. Add service and message to proto file on openrr-remote.
3. Add From<T> for pb::Foo and Foo to openrr-remote/src/lib.rs
4. (If need) Add a new structure declaration to the corresponding parts of the two quote! macros in tools/codegen/src.
5. Run ./tools/gen-code.sh

Codegen will be added.

License

Licensed under the Apache License, Version 2.0.

Re-exports

• pub use nalgebra;

Modules

• gamepad
• utils

Structs

• BaseVelocity
• DummyGamepad
  Dummy Gamepad for debug or tests.
• DummyJointTrajectoryClient
  Dummy JointTrajectoryClient for debug or tests.
• DummyLaserScan2D
• DummyLocalization
  Dummy Localization for debug or tests.
• DummyMotorDriveEffort
• DummyMotorDrivePosition
• DummyMotorDriveVelocity
• DummyMoveBase
  Dummy MoveBase for debug or tests.
• DummyNavigation
  Dummy Navigation for debug or tests.
• DummySpeaker
  Dummy Speaker for debug or tests.
• DummyTransformResolver
  Dummy TransformResolver for debug or tests.
• EachJointDiffCondition
• JointPositionDifferenceLimiter
  JointPositionDifferenceLimiter limits the difference of position between trajectory points and trajectory points are interpolated linearly to satisfy the limits in JointTrajectoryClient::send_joint_positions. In send_joint_trajectory, if no velocities is specified or zero velocities is specified at the last point, trajectory points are interpolated, otherwise simply input trajectory is forwarded to client.
• JointPositionLimit
• JointPositionLimiter
• JointTrajectoryClientsContainer
• JointVelocityLimiter
  JointVelocityLimiter limits the duration to make all joints velocities lower than the given velocities limits at each TrajectoryPoint.
• Lazy
• PartialJointTrajectoryClient
• Scan2D
• TotalJointDiffCondition
• TrajectoryPoint
• WaitFuture
  Waits until the underlying future is complete.

Enums

• Error
• JointPositionLimiterStrategy

Traits

• CompleteCondition
• Gamepad
• JointTrajectoryClient
• LaserScan2D
• Localization
• MotorDriveEffort
• MotorDrivePosition
• MotorDriveVelocity
• MoveBase
• Navigation
• SetCompleteCondition
• Speaker
• TransformResolver

Functions

• copy_joint_positions
  To copy joint name and position between from and to

Type Aliases

• Isometry2
  A 2-dimensional direct isometry using a unit complex number for its rotational part.
• Isometry3
  A 3-dimensional direct isometry using a unit quaternion for its rotational part.
• UnitQuaternion
  A unit quaternions. May be used to represent a rotation.
• Vector2
  A stack-allocated, 2-dimensional column vector.
• Vector3
  A stack-allocated, 3-dimensional column vector.

Attribute Macros

• async_trait