Struct CuRateLimit 

pub struct CuRateLimit {
    pub max_speed: f64,
    pub max_acceleration: f64,
}

Per-joint command rate limit (position mode only).

Both limits are scalars applied to every joint in that joint’s SI unit (dimensionless SI magnitude): max_speed is rad/s for revolute and m/s for prismatic joints, max_acceleration is rad/s² resp. m/s². Both must be positive and finite.

Fields

max_speed: f64

Max joint speed (dimensionless SI magnitude, see type docs).

max_acceleration: f64

Max joint acceleration (dimensionless SI magnitude, see type docs).

Implementations

impl CuRateLimit

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

Checks that both limits are positive and finite.

Trait Implementations

impl Clone for CuRateLimit

fn clone(&self) -> CuRateLimit

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for CuRateLimit

impl Debug for CuRateLimit

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

Formats the value using the given formatter.

impl<'de> Deserialize<'de> for CuRateLimit

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

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl PartialEq for CuRateLimit

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

Equality operator ==.

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

Inequality operator !=.

impl Serialize for CuRateLimit

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 CuRateLimit

impl TypePath for CuRateLimit

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>