Struct CuControllerTask 

pub struct CuControllerTask<const N: usize> { /* private fields */ }

Unified robot-agnostic joint controller task.

Inputs are (setpoint, state): a CuTrajectoryFollowOutput<N> and a repose_kinematics::CuJointStatePayload<N>. Output is a CuJointCommandPayload<N> addressed to any bridge exposing a joint_command channel. The node config: block is a CuControllerParams.

Implementations

impl<const N: usize> CuControllerTask<N>

pub fn from_params(params: CuControllerParams) -> CuResult<Self>

Creates a controller from validated params.

pub fn params(&self) -> &CuControllerParams

Params this task runs with (including set_mode/set_effort_gains changes).

pub fn set_mode(&mut self, mode: CuControllerMode)

Sets the command level (takes effect on the next cycle).

pub fn mode(&self) -> CuControllerMode

Returns the active command level.

pub fn set_effort_gains(&mut self, gains: CuEffortGains) -> CuResult<()>

Sets the effort-mode PD gains. Invalid gains (non-finite or negative) are rejected and leave the current gains unchanged.

Trait Implementations

impl<const N: usize> CuTask for CuControllerTask<N>

type Resources<'r> = ()

Resources required by the task.

type Input<'m> = (&'m CuStampedData<CuTrajectoryFollowOutput<N>, CuMsgMetadata>, &'m CuStampedData<CuJointStatePayload<N>, CuMsgMetadata>)

type Output<'m> = CuStampedData<CuJointCommandPayload<N>, CuMsgMetadata>

fn new( cfg: Option<&ComponentConfig>, _res: Self::Resources<'_>, ) -> CuResult<Self>

where Self: Sized,

Here you need to initialize everything your task will need for the duration of its lifetime. The config allows you to access the configuration of the task.

fn process<'i, 'o>( &mut self, ctx: &CuContext, input: &Self::Input<'i>, output: &mut Self::Output<'o>, ) -> CuResult<()>

Process is the most critical execution of the task. The goal will be to produce the output message as soon as possible. Use preprocess to prepare the task to make this method as short as possible.

fn register_debug_state_types(registry: &mut TypeRegistry)

where Self: Sized + GetTypeRegistration,

Registers the reflected type used as this task’s debug-state contract.

fn debug_state_type_path() -> &'static str

where Self: Sized + TypePath,

Returns the reflected type path used as this task’s debug-state schema.

fn with_debug_state<R>( &self, f: impl FnOnce(&(dyn Reflect + 'static)) -> R, ) -> R

where Self: Sized,

Borrows this task’s current debug-state view.

fn start(&mut self, _ctx: &CuContext) -> Result<(), CuError>

Start is called between the creation of the task and the first call to pre/process.

fn preprocess(&mut self, _ctx: &CuContext) -> Result<(), CuError>

This is a method called by the runtime before “process”. This is a kind of best effort, as soon as possible call to give a chance for the task to do some work before to prepare to make “process” as short as possible.

fn postprocess(&mut self, _ctx: &CuContext) -> Result<(), CuError>

This is a method called by the runtime after “process”. It is best effort a chance for the task to update some state after process is out of the way. It can be use for example to maintain statistics etc. that are not time-critical for the robot.

fn stop(&mut self, _ctx: &CuContext) -> Result<(), CuError>

Called to stop the task. It signals that the *process method won’t be called until start is called again.

impl<const N: usize> Default for CuControllerTask<N>

fn default() -> Self

Returns the “default value” for a type.

impl<const N: usize> Freezable for CuControllerTask<N>

fn freeze<E: Encoder>(&self, encoder: &mut E) -> Result<(), EncodeError>

This method is called by the framework when it wants to save the task state. The default implementation is to encode nothing (stateless). If you have a state, you need to implement this method.

fn thaw<D: Decoder>(&mut self, decoder: &mut D) -> Result<(), DecodeError>

This method is called by the framework when it wants to restore the task to a specific state. Here it is similar to Decode but the framework will give you a new instance of the task (the new method will be called)

impl<const N: usize> TypePath for CuControllerTask<N>

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>