Struct CuCartesianBlendParams 

pub struct CuCartesianBlendParams {
    pub translation_step: Length,
    pub rotation_step: Angle,
    pub collision_step: CuJointResolution,
    pub ik: CuIkParams,
}

Sampling bounds and IK parameters of blend_cartesian_path.

{
    "translation_step": 0.01,
    "rotation_step": 0.05,
    "collision_step": {"angular": 0.08, "linear": 0.01},
    "ik": {"max_iterations": 256},
}

Fields

translation_step: Length

Maximum TCP translation between Cartesian targets.

rotation_step: Angle

Maximum tool rotation between Cartesian targets.

collision_step: CuJointResolution

Joint interpolation resolution for collision checks between IK solutions.

ik: CuIkParams

Implementations

impl CuCartesianBlendParams

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

Checks that both steps are positive and finite, the collision resolution is valid, and the IK parameters are valid.

Trait Implementations

impl<'__de, __Context> BorrowDecode<'__de, __Context> for CuCartesianBlendParams

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

Attempt to decode this type with the given BorrowDecode.

impl Clone for CuCartesianBlendParams

fn clone(&self) -> CuCartesianBlendParams

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for CuCartesianBlendParams

impl Debug for CuCartesianBlendParams

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

Formats the value using the given formatter.

impl<__Context> Decode<__Context> for CuCartesianBlendParams

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

Attempt to decode this type with the given Decode.

impl Default for CuCartesianBlendParams

fn default() -> Self

Returns the “default value” for a type.

impl<'de> Deserialize<'de> for CuCartesianBlendParams

where CuCartesianBlendParams: Default,

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

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl Encode for CuCartesianBlendParams

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

Encode a given type.

impl PartialEq for CuCartesianBlendParams

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

Equality operator ==.

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

Inequality operator !=.

impl Serialize for CuCartesianBlendParams

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 CuCartesianBlendParams

impl TypePath for CuCartesianBlendParams

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>