Struct CuJointCommandPayload 

pub struct CuJointCommandPayload<const N: usize> {
    pub positions: [CuJointPosition; N],
    pub velocities: [CuJointVelocity; N],
    pub status: CuControllerStatus,
    pub max_tracking_error: CuJointPosition,
    pub mode: CuControllerMode,
    pub efforts: [CuJointEffort; N],
}

Unified joint command: the only command payload a bridge has to carry.

Fields

positions: [CuJointPosition; N]

velocities: [CuJointVelocity; N]

status: CuControllerStatus

max_tracking_error: CuJointPosition

Largest absolute joint error (setpoint − measured) seen this cycle.

mode: CuControllerMode

Command level the bridge is asked to apply.

efforts: [CuJointEffort; N]

Effort setpoints (only meaningful when mode is Effort).

Trait Implementations

impl<'__de, const N: usize, __Context> BorrowDecode<'__de, __Context> for CuJointCommandPayload<N>

fn borrow_decode<__D: BorrowDecoder<'__de, Context = __Context>>( decoder: &mut __D, ) -> Result<Self, DecodeError>

Attempt to decode this type with the given BorrowDecode.

impl<const N: usize> Clone for CuJointCommandPayload<N>

fn clone(&self) -> CuJointCommandPayload<N>

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl<const N: usize> Debug for CuJointCommandPayload<N>

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

Formats the value using the given formatter.

impl<const N: usize, __Context> Decode<__Context> for CuJointCommandPayload<N>

fn decode<__D: Decoder<Context = __Context>>( decoder: &mut __D, ) -> Result<Self, DecodeError>

Attempt to decode this type with the given Decode.

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

fn default() -> Self

Returns the “default value” for a type.

impl<'de, const N: usize> Deserialize<'de> for CuJointCommandPayload<N>

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

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl<const N: usize> Encode for CuJointCommandPayload<N>

fn encode<__E: Encoder>(&self, encoder: &mut __E) -> Result<(), EncodeError>

Encode a given type.

impl<const N: usize> PartialEq for CuJointCommandPayload<N>

fn eq(&self, other: &CuJointCommandPayload<N>) -> bool

Equality operator ==.

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

Inequality operator !=.

impl<const N: usize> Serialize for CuJointCommandPayload<N>

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

where __S: Serializer,

Serialize this value into the given Serde serializer.

impl<const N: usize> StructuralPartialEq for CuJointCommandPayload<N>

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