Struct arci::DummyJointTrajectoryClient

pub struct DummyJointTrajectoryClient {
    pub joint_names: Vec<String>,
    pub positions: Arc<Mutex<Vec<f64>>>,
    pub last_trajectory: Arc<Mutex<Vec<TrajectoryPoint>>>,
}

Dummy JointTrajectoryClient for debug or tests.

Fields

joint_names: Vec<String>

positions: Arc<Mutex<Vec<f64>>>

last_trajectory: Arc<Mutex<Vec<TrajectoryPoint>>>

Implementations

impl DummyJointTrajectoryClient

pub fn new(joint_names: Vec<String>) -> Self

Creates a new DummyJointTrajectoryClient with the given joint names.

Trait Implementations

impl Debug for DummyJointTrajectoryClient

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

Formats the value using the given formatter.

impl JointTrajectoryClient for DummyJointTrajectoryClient

fn joint_names(&self) -> Vec<String>

Returns names of joints that this client handles.

fn current_joint_positions(&self) -> Result<Vec<f64>, Error>

Returns the current joint positions.

fn send_joint_positions( &self, positions: Vec<f64>, _duration: Duration, ) -> Result<WaitFuture, Error>

Send the specified joint positions and returns a future that waits until complete the move joints.

fn send_joint_trajectory( &self, full_trajectory: Vec<TrajectoryPoint>, ) -> Result<WaitFuture, Error>

Send the specified joint trajectory and returns a future that waits until complete the move joints.