Struct arci::JointPositionLimiter

pub struct JointPositionLimiter<C>
where
    C: JointTrajectoryClient,
{ /* private fields */ }

Implementations

impl<C> JointPositionLimiter<C>

where C: JointTrajectoryClient,

pub fn new(client: C, limits: Vec<JointPositionLimit>) -> Self

Creates a new JointPositionLimiter with the given position limits.

Panics

Panics if the lengths of limits and joints that client handles are different.

pub fn new_with_strategy( client: C, limits: Vec<JointPositionLimit>, strategy: JointPositionLimiterStrategy, ) -> Self

pub fn from_urdf(client: C, joints: &[Joint]) -> Result<Self, Error>

Creates a new JointPositionLimiter with the position limits defined in URDF.

pub fn from_urdf_with_strategy( client: C, joints: &[Joint], strategy: JointPositionLimiterStrategy, ) -> Result<Self, Error>

pub fn set_strategy(&mut self, strategy: JointPositionLimiterStrategy)

Trait Implementations

impl<C> Clone for JointPositionLimiter<C>

where C: JointTrajectoryClient + Clone,

fn clone(&self) -> JointPositionLimiter<C>

Returns a copy of the value.

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

Performs copy-assignment from source.

impl<C> Debug for JointPositionLimiter<C>

where C: JointTrajectoryClient + Debug,

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

Formats the value using the given formatter.

impl<C> JointTrajectoryClient for JointPositionLimiter<C>

where C: JointTrajectoryClient,

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, trajectory: Vec<TrajectoryPoint>, ) -> Result<WaitFuture, Error>

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