Expand description
§arci
Abstract Robot Control Interface.
§How to add trait
- Add module and trait to
arci/traits. - Add service and message to proto file on
openrr-remote. - Add
From<T>forpb::FooandFootoopenrr-remote/src/lib.rs - (If need) Add a new structure declaration to the corresponding parts of the two quote! macros in
tools/codegen/src. - Run
./tools/gen-code.sh
Codegen will be added.
§License
Licensed under the Apache License, Version 2.0.
Re-exports§
pub use nalgebra;
Modules§
Structs§
- Base
Velocity - Dummy
Gamepad - Dummy Gamepad for debug or tests.
- Dummy
Joint Trajectory Client - Dummy JointTrajectoryClient for debug or tests.
- Dummy
Laser Scan2D - Dummy
Localization - Dummy Localization for debug or tests.
- Dummy
Motor Drive Effort - Dummy
Motor Drive Position - Dummy
Motor Drive Velocity - Dummy
Move Base - Dummy MoveBase for debug or tests.
- Dummy
Navigation - Dummy Navigation for debug or tests.
- Dummy
Speaker - Dummy Speaker for debug or tests.
- Dummy
Transform Resolver - Dummy TransformResolver for debug or tests.
- Each
Joint Diff Condition - Joint
Position Difference Limiter - 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.
- Joint
Position Limit - Joint
Position Limiter - Joint
Trajectory Clients Container - Joint
Velocity Limiter - JointVelocityLimiter limits the duration to make all joints velocities lower than the given velocities limits at each TrajectoryPoint.
- Lazy
- Partial
Joint Trajectory Client - Scan2D
- Total
Joint Diff Condition - Trajectory
Point - Wait
Future - Waits until the underlying future is complete.
Enums§
Traits§
- Complete
Condition - Gamepad
- Joint
Trajectory Client - Laser
Scan2D - Localization
- Motor
Drive Effort - Motor
Drive Position - Motor
Drive Velocity - Move
Base - Navigation
- SetComplete
Condition - Speaker
- Transform
Resolver
Functions§
- copy_
joint_ positions - To copy joint name and position between
fromandto
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.
- Unit
Quaternion - 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.