Gripper

phytrace_sdk::models::domains::actuators

Struct Gripper

pub struct Gripper {
    pub gripper_id: Option<String>,
    pub name: Option<String>,
    pub gripper_type: Option<String>,
    pub state: Option<GripperState>,
    pub position_pct: Option<f64>,
    pub force_n: Option<f64>,
    pub object_detected: Option<bool>,
    pub vacuum_kpa: Option<f64>,
    pub grip_secure: Option<bool>,
    pub status: Option<MotorStatus>,
}

Expand description

Gripper information.

Fields§

§gripper_id: Option<String>

Gripper ID

§name: Option<String>

Gripper name

§gripper_type: Option<String>

Gripper type (parallel, vacuum, magnetic, etc.)

§state: Option<GripperState>

Current state

§position_pct: Option<f64>

Position/opening (0-100%)

§force_n: Option<f64>

Grip force in Newtons

§object_detected: Option<bool>

Whether object is detected/held

§vacuum_kpa: Option<f64>

Vacuum pressure (for vacuum grippers) in kPa

§grip_secure: Option<bool>

Whether grip is secure

§status: Option<MotorStatus>

Motor status

Implementations§

impl Gripper

pub fn open(name: impl Into<String>) -> Self

Create an open gripper.

pub fn holding(name: impl Into<String>, force_n: f64) -> Self

Create a gripper holding an object.

Trait Implementations§

impl Clone for Gripper

fn clone(&self) -> Gripper

Returns a duplicate of the value. Read more

1.0.0 · Source§

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

Performs copy-assignment from source. Read more

impl Debug for Gripper

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

Formats the value using the given formatter. Read more

impl Default for Gripper

fn default() -> Gripper

Returns the “default value” for a type. Read more

impl<'de> Deserialize<'de> for Gripper

fn deserialize<D>(deserializer: D) -> Result<Self, D::Error>
where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer. Read more

impl Serialize for Gripper

fn serialize<S>(&self, serializer: S) -> Result<S::Ok, S::Error>
where S: Serializer,

Serialize this value into the given Serde serializer. Read more

impl Validate for Gripper

fn validate(&self) -> Result<(), ValidationErrors>

impl<'v_a> ValidateArgs<'v_a> for Gripper

type Args = ()

fn validate_with_args(&self, args: Self::Args) -> Result<(), ValidationErrors>

Auto Trait Implementations§

impl Freeze for Gripper

impl RefUnwindSafe for Gripper

impl Send for Gripper

impl Sync for Gripper

impl Unpin for Gripper

impl UnwindSafe for Gripper

Blanket Implementations§

impl<T> Any for T
where T: 'static + ?Sized,

fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more

impl<T> Borrow<T> for T
where T: ?Sized,

fn borrow(&self) -> &T

Immutably borrows from an owned value. Read more

impl<T> BorrowMut<T> for T
where T: ?Sized,

fn borrow_mut(&mut self) -> &mut T

Mutably borrows from an owned value. Read more

impl<T> CloneToUninit for T
where T: Clone,

unsafe fn clone_to_uninit(&self, dest: *mut u8)

🔬This is a nightly-only experimental API. (clone_to_uninit)

Performs copy-assignment from self to dest. Read more

impl<T> From<T> for T

fn from(t: T) -> T

Returns the argument unchanged.

impl<T> Instrument for T

fn instrument(self, span: Span) -> Instrumented<Self>

Instruments this type with the provided [Span], returning an Instrumented wrapper. Read more

fn in_current_span(self) -> Instrumented<Self>

Instruments this type with the current Span, returning an Instrumented wrapper. Read more

impl<T, U> Into<U> for T
where U: From<T>,

fn into(self) -> U

Calls U::from(self).

That is, this conversion is whatever the implementation of From<T> for U chooses to do.

impl<T> PolicyExt for T
where T: ?Sized,

fn and<P, B, E>(self, other: P) -> And<T, P>
where T: Policy<B, E>, P: Policy<B, E>,

Create a new Policy that returns [Action::Follow] only if self and other return Action::Follow. Read more

fn or<P, B, E>(self, other: P) -> Or<T, P>
where T: Policy<B, E>, P: Policy<B, E>,

Create a new Policy that returns [Action::Follow] if either self or other returns Action::Follow. Read more

impl<T> Same for T

type Output = T

Should always be Self

impl<T> ToOwned for T
where T: Clone,

type Owned = T

The resulting type after obtaining ownership.

fn to_owned(&self) -> T

Creates owned data from borrowed data, usually by cloning. Read more

fn clone_into(&self, target: &mut T)

Uses borrowed data to replace owned data, usually by cloning. Read more

impl<T, U> TryFrom<U> for T
where U: Into<T>,

type Error = Infallible

The type returned in the event of a conversion error.

fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>

Performs the conversion.

impl<T, U> TryInto<U> for T
where U: TryFrom<T>,

type Error = <U as TryFrom<T>>::Error

The type returned in the event of a conversion error.

fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>

Performs the conversion.

impl<V, T> VZip<V> for T
where V: MultiLane<T>,

fn vzip(self) -> V

impl<T> WithSubscriber for T

fn with_subscriber<S>(self, subscriber: S) -> WithDispatch<Self>
where S: Into<Dispatch>,

Attaches the provided Subscriber to this type, returning a [WithDispatch] wrapper. Read more

fn with_current_subscriber(self) -> WithDispatch<Self>

Attaches the current default Subscriber to this type, returning a [WithDispatch] wrapper. Read more

impl<T> DeserializeOwned for T
where T: for<'de> Deserialize<'de>,