Struct arci_ros::RosRobotClient

pub struct RosRobotClient(/* private fields */);

Implementations

impl RosRobotClient

pub fn new( joint_names: Vec<String>, joint_state_topic_name: &str, trajectory_topic_name: &str, ) -> Self

Trait Implementations

impl Clone for RosRobotClient

fn clone(&self) -> RosRobotClient

Returns a copy of the value.

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

Performs copy-assignment from source.

impl JointTrajectoryClient for RosRobotClient

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.

impl SetCompleteCondition for RosRobotClient

fn set_complete_condition(&mut self, condition: Box<dyn CompleteCondition>)