Trait guppy_controller::arm_controller::ArmController

pub trait ArmController: Send + Sync {
    // Required methods
    fn set_color<'life0, 'async_trait>(
        &'life0 mut self,
        color: LedColor
    ) -> Pin<Box<dyn Future<Output = Result<(), IkError>> + Send + 'async_trait>>
       where Self: 'async_trait,
             'life0: 'async_trait;
    fn move_gripper<'life0, 'async_trait>(
        &'life0 mut self,
        closed: f32
    ) -> Pin<Box<dyn Future<Output = Result<(), IkError>> + Send + 'async_trait>>
       where Self: 'async_trait,
             'life0: 'async_trait;
    fn calculate_ik(
        &self,
        pose: EndEffectorPose
    ) -> Result<JointPositions, IkError>;
    fn calculate_fk(&self, joints: JointPositions) -> ArmPositions;
    fn calculate_full_poses(
        &self,
        target: EndEffectorPose
    ) -> Result<(ArmPositions, JointPositions), IkError>;
    fn read_position<'life0, 'async_trait>(
        &'life0 mut self
    ) -> Pin<Box<dyn Future<Output = Result<ArmPositions, IkError>> + Send + 'async_trait>>
       where Self: 'async_trait,
             'life0: 'async_trait;
    fn move_to<'life0, 'async_trait>(
        &'life0 mut self,
        pose: EndEffectorPose
    ) -> Pin<Box<dyn Future<Output = Result<JointPositions, IkError>> + Send + 'async_trait>>
       where Self: 'async_trait,
             'life0: 'async_trait;
    fn move_joints_to<'life0, 'async_trait>(
        &'life0 mut self,
        joints: JointPositions
    ) -> Pin<Box<dyn Future<Output = Result<(), IkError>> + Send + 'async_trait>>
       where Self: 'async_trait,
             'life0: 'async_trait;
    fn move_joints_timed<'life0, 'async_trait>(
        &'life0 mut self,
        joints: JointPositions,
        duration: Duration
    ) -> Pin<Box<dyn Future<Output = Result<(), IkError>> + Send + 'async_trait>>
       where Self: 'async_trait,
             'life0: 'async_trait;
    fn halt<'life0, 'async_trait>(
        &'life0 mut self
    ) -> Pin<Box<dyn Future<Output = Result<(), IkError>> + Send + 'async_trait>>
       where Self: 'async_trait,
             'life0: 'async_trait;
    fn limp<'life0, 'async_trait>(
        &'life0 mut self
    ) -> Pin<Box<dyn Future<Output = Result<(), IkError>> + Send + 'async_trait>>
       where Self: 'async_trait,
             'life0: 'async_trait;
    fn setup_motors<'life0, 'async_trait>(
        &'life0 mut self,
        settings: ArmControlSettings
    ) -> Pin<Box<dyn Future<Output = Result<(), IkError>> + Send + 'async_trait>>
       where Self: 'async_trait,
             'life0: 'async_trait;
    fn load_motor_settings<'life0, 'async_trait>(
        &'life0 mut self
    ) -> Pin<Box<dyn Future<Output = Result<ArmControlSettings, IkError>> + Send + 'async_trait>>
       where Self: 'async_trait,
             'life0: 'async_trait;
    fn check_motors_okay<'life0, 'async_trait>(
        &'life0 mut self
    ) -> Pin<Box<dyn Future<Output = Result<bool, IkError>> + Send + 'async_trait>>
       where Self: 'async_trait,
             'life0: 'async_trait;
}

Required Methods

fn set_color<'life0, 'async_trait>( &'life0 mut self, color: LedColor ) -> Pin<Box<dyn Future<Output = Result<(), IkError>> + Send + 'async_trait>>where Self: 'async_trait, 'life0: 'async_trait,

fn move_gripper<'life0, 'async_trait>( &'life0 mut self, closed: f32 ) -> Pin<Box<dyn Future<Output = Result<(), IkError>> + Send + 'async_trait>>where Self: 'async_trait, 'life0: 'async_trait,

0.0 is fully open 1.0 is fully closed

fn calculate_ik(&self, pose: EndEffectorPose) -> Result<JointPositions, IkError>

fn calculate_fk(&self, joints: JointPositions) -> ArmPositions

fn calculate_full_poses( &self, target: EndEffectorPose ) -> Result<(ArmPositions, JointPositions), IkError>

fn read_position<'life0, 'async_trait>( &'life0 mut self ) -> Pin<Box<dyn Future<Output = Result<ArmPositions, IkError>> + Send + 'async_trait>>where Self: 'async_trait, 'life0: 'async_trait,

fn move_to<'life0, 'async_trait>( &'life0 mut self, pose: EndEffectorPose ) -> Pin<Box<dyn Future<Output = Result<JointPositions, IkError>> + Send + 'async_trait>>where Self: 'async_trait, 'life0: 'async_trait,

fn move_joints_to<'life0, 'async_trait>( &'life0 mut self, joints: JointPositions ) -> Pin<Box<dyn Future<Output = Result<(), IkError>> + Send + 'async_trait>>where Self: 'async_trait, 'life0: 'async_trait,

fn move_joints_timed<'life0, 'async_trait>( &'life0 mut self, joints: JointPositions, duration: Duration ) -> Pin<Box<dyn Future<Output = Result<(), IkError>> + Send + 'async_trait>>where Self: 'async_trait, 'life0: 'async_trait,

fn halt<'life0, 'async_trait>( &'life0 mut self ) -> Pin<Box<dyn Future<Output = Result<(), IkError>> + Send + 'async_trait>>where Self: 'async_trait, 'life0: 'async_trait,

fn limp<'life0, 'async_trait>( &'life0 mut self ) -> Pin<Box<dyn Future<Output = Result<(), IkError>> + Send + 'async_trait>>where Self: 'async_trait, 'life0: 'async_trait,

fn setup_motors<'life0, 'async_trait>( &'life0 mut self, settings: ArmControlSettings ) -> Pin<Box<dyn Future<Output = Result<(), IkError>> + Send + 'async_trait>>where Self: 'async_trait, 'life0: 'async_trait,

fn load_motor_settings<'life0, 'async_trait>( &'life0 mut self ) -> Pin<Box<dyn Future<Output = Result<ArmControlSettings, IkError>> + Send + 'async_trait>>where Self: 'async_trait, 'life0: 'async_trait,

fn check_motors_okay<'life0, 'async_trait>( &'life0 mut self ) -> Pin<Box<dyn Future<Output = Result<bool, IkError>> + Send + 'async_trait>>where Self: 'async_trait, 'life0: 'async_trait,

Implementors

impl ArmController for LssArmController