Struct openrr_client::RobotClient

pub struct RobotClient<L, M, N>
where
    L: Localization,
    M: MoveBase,
    N: Navigation,
{ /* private fields */ }

Implementations

impl<L, M, N> RobotClient<L, M, N>

where L: Localization, M: MoveBase, N: Navigation,

pub fn new( config: OpenrrClientsConfig, raw_joint_trajectory_clients: HashMap<String, Arc<dyn JointTrajectoryClient>>, speakers: HashMap<String, Arc<dyn Speaker>>, localization: Option<L>, move_base: Option<M>, navigation: Option<N>, ) -> Result<Self, Error>

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

Set the current joint positions to the robot kinematic model.

Returns Error::FullChainNotFound when self.full_chain_for_collision_checker is None.

pub fn is_raw_joint_trajectory_client(&self, name: &str) -> bool

pub fn is_joint_trajectory_client(&self, name: &str) -> bool

pub fn is_collision_avoidance_client(&self, name: &str) -> bool

pub fn is_collision_check_client(&self, name: &str) -> bool

pub fn is_ik_client(&self, name: &str) -> bool

pub fn joint_trajectory_clients( &self, ) -> &HashMap<String, Arc<dyn JointTrajectoryClient>>

pub fn self_collision_checkers( &self, ) -> &HashMap<String, Arc<SelfCollisionChecker<f64>>>

pub fn ik_solvers(&self) -> &HashMap<String, Arc<IkSolverWithChain>>

pub fn collision_avoidance_clients( &self, ) -> &HashMap<String, Arc<CollisionAvoidanceClient<Arc<dyn JointTrajectoryClient>>>>

pub fn ik_clients( &self, ) -> &HashMap<String, Arc<IkClient<Arc<dyn JointTrajectoryClient>>>>

pub fn send_joint_positions( &self, name: &str, positions: &[f64], duration_sec: f64, ) -> Result<WaitFuture, Error>

pub fn current_joint_positions(&self, name: &str) -> Result<Vec<f64>, Error>

pub fn joint_names(&self, name: &str) -> Result<Vec<String>, Error>

Returns the joint names which is handled by the joint trajectory client with name

pub fn send_joints_pose( &self, name: &str, pose_name: &str, duration_sec: f64, ) -> Result<WaitFuture, Error>

pub fn current_end_transform(&self, name: &str) -> Result<Isometry3<f64>, Error>

pub fn transform( &self, name: &str, pose: &Isometry3<f64>, ) -> Result<Isometry3<f64>, Error>

pub fn move_ik( &self, name: &str, target_pose: &Isometry3<f64>, duration_sec: f64, ) -> Result<WaitFuture, Error>

pub fn move_ik_with_interpolation( &self, name: &str, target_pose: &Isometry3<f64>, duration_sec: f64, max_resolution: f64, min_number_of_points: i32, ) -> Result<WaitFuture, Error>

pub fn send_joint_positions_with_pose_interpolation( &self, name: &str, positions: &[f64], duration_sec: f64, max_resolution: f64, min_number_of_points: i32, ) -> Result<WaitFuture, Error>

pub fn raw_joint_trajectory_clients_names(&self) -> Vec<String>

pub fn joint_trajectory_clients_names(&self) -> Vec<String>

pub fn collision_avoidance_clients_names(&self) -> Vec<String>

pub fn collision_check_clients_names(&self) -> Vec<String>

pub fn ik_clients_names(&self) -> Vec<String>

pub fn full_chain_for_collision_checker(&self) -> &Option<Arc<Chain<f64>>>

pub fn speakers(&self) -> &HashMap<String, Arc<dyn Speaker>>

pub fn speak(&self, name: &str, message: &str) -> Result<WaitFuture, Error>

Trait Implementations

impl<L, M, N> Localization for RobotClient<L, M, N>

where L: Localization, M: MoveBase, N: Navigation,

fn current_pose(&self, frame_id: &str) -> Result<Isometry2<f64>, ArciError>

impl<L, M, N> MoveBase for RobotClient<L, M, N>

where L: Localization, M: MoveBase, N: Navigation,

fn send_velocity(&self, velocity: &BaseVelocity) -> Result<(), ArciError>

fn current_velocity(&self) -> Result<BaseVelocity, ArciError>

impl<L, M, N> Navigation for RobotClient<L, M, N>

where L: Localization, M: MoveBase, N: Navigation,

fn send_goal_pose( &self, goal: Isometry2<f64>, frame_id: &str, timeout: Duration, ) -> Result<WaitFuture, ArciError>

fn cancel(&self) -> Result<(), ArciError>