Struct arci_ros::RosControlClientConfig

pub struct RosControlClientConfig {
    pub name: String,
    pub joint_names: Vec<String>,
    pub controller_name: String,
    pub state_topic_name: Option<String>,
    pub send_partial_joints_goal: bool,
    pub complete_allowable_errors: Vec<f64>,
    pub complete_timeout_sec: f64,
    pub wrapper_config: JointTrajectoryClientWrapperConfig,
}

Fields

name: String

joint_names: Vec<String>

controller_name: String

state_topic_name: Option<String>

send_partial_joints_goal: bool

complete_allowable_errors: Vec<f64>

complete_timeout_sec: f64

wrapper_config: JointTrajectoryClientWrapperConfig

Trait Implementations

impl Clone for RosControlClientConfig

fn clone(&self) -> RosControlClientConfig

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for RosControlClientConfig

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

Formats the value using the given formatter.

impl<'de> Deserialize<'de> for RosControlClientConfig

fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl JsonSchema for RosControlClientConfig

fn schema_name() -> String

The name of the generated JSON Schema.

fn schema_id() -> Cow<'static, str>

Returns a string that uniquely identifies the schema produced by this type.

fn json_schema(gen: &mut SchemaGenerator) -> Schema

Generates a JSON Schema for this type.

fn is_referenceable() -> bool

Whether JSON Schemas generated for this type should be re-used where possible using the $ref keyword.

impl RosControlClientBuilder for RosControlClientConfig

fn build_joint_state_provider( &self, joint_state_topic_name: impl Into<String>, ) -> Arc<LazyLock<Box<dyn JointStateProvider + Send + Sync>, Box<dyn FnOnce() -> Box<dyn JointStateProvider + Send + Sync> + Send + Sync>>>

fn build_joint_trajectory_client( &self, lazy: bool, joint_state_provider: Arc<LazyLock<Box<dyn JointStateProvider + Send + Sync>, Box<dyn FnOnce() -> Box<dyn JointStateProvider + Send + Sync> + Send + Sync>>>, ) -> Result<Arc<dyn JointTrajectoryClient>, Error>

fn state_topic(&self) -> String

fn wrapper_config(&self) -> &JointTrajectoryClientWrapperConfig

fn name(&self) -> &str

impl Serialize for RosControlClientConfig

fn serialize<__S>(&self, __serializer: __S) -> Result<__S::Ok, __S::Error>

where __S: Serializer,

Serialize this value into the given Serde serializer.