Struct IkClient

pub struct IkClient<T>
where
    T: JointTrajectoryClient,
{
    pub client: T,
    pub ik_solver_with_chain: Arc<IkSolverWithChain>,
}

Fields

client: T

ik_solver_with_chain: Arc<IkSolverWithChain>

Implementations

impl<T> IkClient<T>

where T: JointTrajectoryClient + Send,

pub fn new( client: T, ik_solver_with_chain: Arc<IkSolverWithChain>, ) -> IkClient<T>

pub fn current_end_transform( &self, ) -> Result<Isometry<f64, Unit<Quaternion<f64>>, 3>, Error>

pub fn move_ik_with_constraints( &self, target_pose: &Isometry<f64, Unit<Quaternion<f64>>, 3>, constraints: &Constraints, duration_sec: f64, ) -> Result<WaitFuture, Error>

pub fn move_ik_with_interpolation_and_constraints( &self, target_pose: &Isometry<f64, Unit<Quaternion<f64>>, 3>, constraints: &Constraints, duration_sec: f64, max_resolution: f64, min_number_of_points: i32, ) -> Result<WaitFuture, Error>

pub fn move_ik( &self, target_pose: &Isometry<f64, Unit<Quaternion<f64>>, 3>, duration_sec: f64, ) -> Result<WaitFuture, Error>

pub fn move_ik_with_interpolation( &self, target_pose: &Isometry<f64, Unit<Quaternion<f64>>, 3>, duration_sec: f64, max_resolution: f64, min_number_of_points: i32, ) -> Result<WaitFuture, Error>

pub fn transform( &self, relative_pose: &Isometry<f64, Unit<Quaternion<f64>>, 3>, ) -> Result<Isometry<f64, Unit<Quaternion<f64>>, 3>, Error>

Get relative pose from current pose of the IK target

pub fn set_zero_pose_for_kinematics(&self) -> Result<(), Error>

pub fn constraints(&self) -> &Constraints

pub fn set_joint_positions_clamped(&self, positions: &[f64])

Trait Implementations

impl<T> JointTrajectoryClient for IkClient<T>

where T: 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.