Struct arci::JointVelocityLimiter

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

JointVelocityLimiter limits the duration to make all joints velocities lower than the given velocities limits at each TrajectoryPoint.

It does not change TrajectoryPoint velocities. The duration for a TrajectoryPoint[i] is set to

duration[i] = max(limited_duration_i[j=0], ...,  limited_duration_i[j=J-1], input_duration[i])
where
 j : joint_index (0 <= j < J),
 limited_duration_i[j] =
  abs(TrajectoryPoint[i].positions[j]  - TrajectoryPoint[i-1].positions[j]) / velocity_limits[j]

Implementations

impl<C> JointVelocityLimiter<C>

where C: JointTrajectoryClient,

pub fn new(client: C, velocity_limits: Vec<f64>) -> Self

Creates a new JointVelocityLimiter with the given velocity limits.

Panics

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

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

Creates a new JointVelocityLimiter with the velocity limits defined in URDF.

Trait Implementations

impl<C> Debug for JointVelocityLimiter<C>

where C: JointTrajectoryClient + Debug,

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

Formats the value using the given formatter.

impl<C> JointTrajectoryClient for JointVelocityLimiter<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.