Struct arci::PartialJointTrajectoryClient

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

Implementations

impl<C> PartialJointTrajectoryClient<C>

where C: JointTrajectoryClient,

pub fn new(joint_names: Vec<String>, shared_client: C) -> Result<Self, Error>

Generate Partial Joint Client

This function check partial joint name and full joint name. Only allow unique partial joint name and joint name contained full.

Important point

Partial Joint name is changed to dictionary order.

Trait Implementations

impl<C> Debug for PartialJointTrajectoryClient<C>

where C: JointTrajectoryClient + Debug,

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

Formats the value using the given formatter.

impl<C> JointTrajectoryClient for PartialJointTrajectoryClient<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.