Struct guppy_grpc::arm_config::ArmConfig

pub struct ArmConfig {
    pub base_id: u8,
    pub shoulder_id: u8,
    pub elbow_id: u8,
    pub wrist_id: u8,
    pub gripper_id: u8,
    pub shoulder: Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>,
    pub elbow: Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>,
    pub wrist: Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>,
    pub end_effector: Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>,
}

Fields

base_id: u8

shoulder_id: u8

elbow_id: u8

wrist_id: u8

gripper_id: u8

shoulder: Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>

elbow: Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>

wrist: Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>

end_effector: Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>

Implementations

impl ArmConfig

pub fn get_ids(&self) -> [u8; 5]

pub fn included() -> ArmConfig

Guppy comes with an included config file.

This file is packaged with the binary This method retrieves this included version

pub fn parse_json(text: &str) -> Result<ArmConfig, Error>

pub fn parse_yaml(text: &str) -> Result<ArmConfig, Error>

pub fn serialize_to_json(&self) -> Result<String, Error>

pub fn serialize_to_yaml(&self) -> Result<String, Error>

pub fn save_json(&self, path: &str) -> Result<(), Error>

pub fn save_yaml(&self, path: &str) -> Result<(), Error>

pub fn load_json(path: &str) -> Result<ArmConfig, Error>

pub fn load_yaml(path: &str) -> Result<ArmConfig, Error>

Trait Implementations

impl Clone for ArmConfig

fn clone(&self) -> ArmConfig

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for ArmConfig

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

Formats the value using the given formatter.

impl Default for ArmConfig

fn default() -> ArmConfig

Arm configuration with default values

impl<'de> Deserialize<'de> for ArmConfig

fn deserialize<__D>( __deserializer: __D ) -> Result<ArmConfig, <__D as Deserializer<'de>>::Error>where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl PartialEq<ArmConfig> for ArmConfig

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

This method tests for self and other values to be equal, and is used by ==.

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

This method tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl Serialize for ArmConfig

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

Serialize this value into the given Serde serializer.

impl StructuralPartialEq for ArmConfig