pub struct DifferentialDrive<MV>where
MV: MotorDriveVelocity,{ /* private fields */ }Implementations§
Source§impl<MV> DifferentialDrive<MV>where
MV: MotorDriveVelocity,
impl<MV> DifferentialDrive<MV>where
MV: MotorDriveVelocity,
pub fn new( param: DifferentialDriveHardwareParameters, controller: DifferentialDriveMotorController<MV>, limit_velocity: BaseVelocity, limit_acceleration: BaseAcceleration, ) -> Self
Sourcepub fn transform_velocity_base_to_wheel(
&self,
velocity: &BaseVelocity,
) -> [f64; 2]
pub fn transform_velocity_base_to_wheel( &self, velocity: &BaseVelocity, ) -> [f64; 2]
Output: left_wheel_velocity, right_wheel_velocity
Sourcepub fn transform_velocity_wheel_to_base(
&self,
wheels_vel: &[f64; 2],
) -> BaseVelocity
pub fn transform_velocity_wheel_to_base( &self, wheels_vel: &[f64; 2], ) -> BaseVelocity
Input: left_wheel_velocity, right_wheel_velocity
Trait Implementations§
Source§impl<MV> Debug for DifferentialDrive<MV>where
MV: MotorDriveVelocity + Debug,
impl<MV> Debug for DifferentialDrive<MV>where
MV: MotorDriveVelocity + Debug,
Source§impl<MV> Localization for DifferentialDrive<MV>where
MV: MotorDriveVelocity,
impl<MV> Localization for DifferentialDrive<MV>where
MV: MotorDriveVelocity,
Source§impl<MV> MoveBase for DifferentialDrive<MV>where
MV: MotorDriveVelocity,
impl<MV> MoveBase for DifferentialDrive<MV>where
MV: MotorDriveVelocity,
fn send_velocity(&self, velocity: &BaseVelocity) -> Result<(), Error>
fn current_velocity(&self) -> Result<BaseVelocity, Error>
Auto Trait Implementations§
impl<MV> !Freeze for DifferentialDrive<MV>
impl<MV> RefUnwindSafe for DifferentialDrive<MV>where
MV: RefUnwindSafe,
impl<MV> Send for DifferentialDrive<MV>
impl<MV> Sync for DifferentialDrive<MV>
impl<MV> Unpin for DifferentialDrive<MV>where
MV: Unpin,
impl<MV> UnwindSafe for DifferentialDrive<MV>where
MV: UnwindSafe,
Blanket Implementations§
Source§impl<T> BorrowMut<T> for Twhere
T: ?Sized,
impl<T> BorrowMut<T> for Twhere
T: ?Sized,
Source§fn borrow_mut(&mut self) -> &mut T
fn borrow_mut(&mut self) -> &mut T
Mutably borrows from an owned value. Read more
Source§impl<T> Instrument for T
impl<T> Instrument for T
Source§fn instrument(self, span: Span) -> Instrumented<Self>
fn instrument(self, span: Span) -> Instrumented<Self>
Source§fn in_current_span(self) -> Instrumented<Self>
fn in_current_span(self) -> Instrumented<Self>
Source§impl<SS, SP> SupersetOf<SS> for SPwhere
SS: SubsetOf<SP>,
impl<SS, SP> SupersetOf<SS> for SPwhere
SS: SubsetOf<SP>,
Source§fn to_subset(&self) -> Option<SS>
fn to_subset(&self) -> Option<SS>
The inverse inclusion map: attempts to construct
self from the equivalent element of its
superset. Read moreSource§fn is_in_subset(&self) -> bool
fn is_in_subset(&self) -> bool
Checks if
self is actually part of its subset T (and can be converted to it).Source§fn to_subset_unchecked(&self) -> SS
fn to_subset_unchecked(&self) -> SS
Use with care! Same as
self.to_subset but without any property checks. Always succeeds.Source§fn from_subset(element: &SS) -> SP
fn from_subset(element: &SS) -> SP
The inclusion map: converts
self to the equivalent element of its superset.