Struct CuControllerParams 

pub struct CuControllerParams {
    pub mode: CuControllerMode,
    pub tracking_error_limit: f64,
    pub state_timeout: Option<Time>,
    pub rate_limit: Option<CuRateLimit>,
    pub effort_gains: CuEffortGains,
}

Parameters of CuControllerTask; the node config: block.

config: {
    "mode": "position",            // position | velocity | effort
    "tracking_error_limit": 0.5,   // SI per joint kind (rad / m)
    "state_timeout": 0.2,          // s; omit to disable the watchdog
    "rate_limit": {"max_speed": 1.5, "max_acceleration": 6.0},
    "effort_gains": {"kp": 20.0, "kv": 0.8},
}

use repose_controller::{CuControllerParams, CuControllerTask, CuRateLimit};

let params = CuControllerParams {
    rate_limit: Some(CuRateLimit { max_speed: 1.5, max_acceleration: 6.0 }),
    ..CuControllerParams::default()
};
let task = CuControllerTask::<6>::from_params(params).unwrap();
assert_eq!(task.params().tracking_error_limit, 0.5);

Fields

mode: CuControllerMode

Command level: position, velocity, or effort.

tracking_error_limit: f64

Max allowed absolute joint error (setpoint − measured) before the controller faults and holds the measured state. Dimensionless SI magnitude compared per joint in that joint’s unit: radians for revolute, meters for prismatic joints. Positive and finite.

state_timeout: Option<Time>

State watchdog: a joint state whose Tov is older than this (or in the future, or missing a time) faults the controller. None disables the watchdog.

rate_limit: Option<CuRateLimit>

Command rate limit; requires mode: position. None disables it.

effort_gains: CuEffortGains

Effort-mode PD gains. In effort mode, hold/fault paths apply a damping brake (-kv * measured velocity); with no measured state the effort is zero and the bridge’s gravity compensation is all that holds the arm.

Implementations

impl CuControllerParams

pub fn validate(&self) -> CuResult<()>

Checks the limit, watchdog, rate limit (position mode only) and gains.

Trait Implementations

impl Clone for CuControllerParams

fn clone(&self) -> CuControllerParams

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for CuControllerParams

impl Debug for CuControllerParams

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

Formats the value using the given formatter.

impl Default for CuControllerParams

fn default() -> Self

Position mode, 0.5 tracking-error limit, no watchdog, no rate limit, effort gains kp = 20.0, kv = 0.8.

impl<'de> Deserialize<'de> for CuControllerParams

where CuControllerParams: Default,

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

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl PartialEq for CuControllerParams

fn eq(&self, other: &CuControllerParams) -> bool

Equality operator ==.

fn ne(&self, other: &Rhs) -> bool

Inequality operator !=.

impl Serialize for CuControllerParams

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

where __S: Serializer,

Serialize this value into the given Serde serializer.

impl StructuralPartialEq for CuControllerParams

impl TypePath for CuControllerParams

fn type_path() -> &'static str

fn short_type_path() -> &'static str

fn type_ident() -> Option<&'static str>

fn crate_name() -> Option<&'static str>

fn module_path() -> Option<&'static str>