Struct CuEffortGains 

pub struct CuEffortGains {
    pub kp: f64,
    pub kv: f64,
}

Effort-mode PD gains.

Both gains are dimensionless SI multipliers applied per joint kind: kp is N m/rad (revolute) or N/m (prismatic), kv is N m s/rad (revolute) or N s/m (prismatic). Both must be finite and >= 0.

Fields

kp: f64

Proportional gain (dimensionless SI, see type docs).

kv: f64

Derivative gain (dimensionless SI, see type docs).

Implementations

impl CuEffortGains

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

Checks that both gains are finite and non-negative.

Trait Implementations

impl Clone for CuEffortGains

fn clone(&self) -> CuEffortGains

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for CuEffortGains

impl Debug for CuEffortGains

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

Formats the value using the given formatter.

impl Default for CuEffortGains

fn default() -> Self

kp = 20.0, kv = 0.8.

impl<'de> Deserialize<'de> for CuEffortGains

where CuEffortGains: 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 CuEffortGains

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

Equality operator ==.

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

Inequality operator !=.

impl Serialize for CuEffortGains

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 CuEffortGains

impl TypePath for CuEffortGains

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>