Struct arci::JointTrajectoryClientsContainer

pub struct JointTrajectoryClientsContainer<T: JointTrajectoryClient> { /* private fields */ }

Implementations

impl<T> JointTrajectoryClientsContainer<T>

where T: JointTrajectoryClient,

pub fn new(clients: Vec<T>) -> Self

Trait Implementations

impl<T: Debug + JointTrajectoryClient> Debug for JointTrajectoryClientsContainer<T>

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

Formats the value using the given formatter.

impl<T> JointTrajectoryClient for JointTrajectoryClientsContainer<T>

where T: JointTrajectoryClient + Sync,

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.