Struct CuTimingParams 

pub struct CuTimingParams<const N: usize> {
    pub limits: CuJointTrajectoryLimits<N>,
    pub profile: CuTrajectoryProfile,
    pub sample_period: Time,
}

Timing parameters shared by parameterize and parameterize_cartesian_path.

limits is required (it has no sensible default); profile defaults to trapezoidal and sample_period to 0.02 s.

{
    "limits": {
        "max_velocities": [{"revolute": 0.8}],
        "max_accelerations": [{"revolute": 2.0}],
    },
    "profile": "s_curve",
    "sample_period": 0.01,
}

Fields

limits: CuJointTrajectoryLimits<N>

Per-joint velocity, acceleration and optional jerk limits.

profile: CuTrajectoryProfile

Profile family of every segment (joint space) or move (Cartesian path).

sample_period: Time

Period at which the timed motion is resampled into the payload.

Implementations

impl<const N: usize> CuTimingParams<N>

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

Checks the limits and that sample_period is positive and finite.

Trait Implementations

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

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

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl<const N: usize> Copy for CuTimingParams<N>

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

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

Formats the value using the given formatter.

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

fn default() -> Self

Returns the “default value” for a type.

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

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

Equality operator ==.

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

Inequality operator !=.

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

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