Struct openrr_teleop::ControlModesConfig

pub struct ControlModesConfig {
    pub move_base_mode: Option<String>,
    pub joy_joint_teleop_configs: Vec<JoyJointTeleopConfig>,
    pub ik_mode_teleop_configs: Vec<IkModeTeleopConfig>,
    pub joints_pose_sender_config: Option<JointsPoseSenderConfig>,
    pub command_configs: Vec<RobotCommandConfig>,
}

Fields

move_base_mode: Option<String>

joy_joint_teleop_configs: Vec<JoyJointTeleopConfig>

ik_mode_teleop_configs: Vec<IkModeTeleopConfig>

joints_pose_sender_config: Option<JointsPoseSenderConfig>

command_configs: Vec<RobotCommandConfig>

Implementations

impl ControlModesConfig

pub fn create_control_modes( &self, base_path: Option<PathBuf>, robot_client: Arc<ArcRobotClient>, speaker: Arc<dyn Speaker>, joint_trajectory_client_map: &HashMap<String, Arc<dyn JointTrajectoryClient>>, ik_solver_with_chain_map: &HashMap<String, Arc<IkSolverWithChain>>, move_base: Option<Arc<dyn MoveBase>>, joints_poses: Vec<JointsPose>, ) -> Result<Vec<Arc<dyn ControlMode>>, Error>

Trait Implementations

impl Clone for ControlModesConfig

fn clone(&self) -> ControlModesConfig

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for ControlModesConfig

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

Formats the value using the given formatter.

impl Default for ControlModesConfig

fn default() -> ControlModesConfig

Returns the “default value” for a type.

impl<'de> Deserialize<'de> for ControlModesConfig

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

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl JsonSchema for ControlModesConfig

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 Serialize for ControlModesConfig

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

where __S: Serializer,

Serialize this value into the given Serde serializer.