Struct ManipulationDomain 

pub struct ManipulationDomain {
    pub arm_state: Option<ArmState>,
    pub end_effector: Option<EndEffector>,
    pub workspace: Option<Workspace>,
    pub grasp: Option<GraspOperation>,
    pub hand_guiding: Option<HandGuiding>,
    pub control_mode: Option<ManipulationControlMode>,
    pub collision_avoidance_active: Option<bool>,
}

Manipulation domain containing arm and grasping information.

Fields

arm_state: Option<ArmState>

Arm state

end_effector: Option<EndEffector>

End effector information

workspace: Option<Workspace>

Workspace information

grasp: Option<GraspOperation>

Current grasp operation

hand_guiding: Option<HandGuiding>

Hand guiding mode (for cobots)

control_mode: Option<ManipulationControlMode>

Control mode

collision_avoidance_active: Option<bool>

Whether in collision avoidance

Implementations

impl ManipulationDomain

pub fn new(state: ArmState) -> Self

Create with arm state.

pub fn with_end_effector(self, end_effector: EndEffector) -> Self

Builder to add end effector.

pub fn with_grasp(self, grasp: GraspOperation) -> Self

Builder to add grasp operation.

pub fn with_hand_guiding(self, hand_guiding: HandGuiding) -> Self

Builder to add hand guiding.

Trait Implementations

impl Clone for ManipulationDomain

fn clone(&self) -> ManipulationDomain

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for ManipulationDomain

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

Formats the value using the given formatter.

impl Default for ManipulationDomain

fn default() -> ManipulationDomain

Returns the “default value” for a type.

impl<'de> Deserialize<'de> for ManipulationDomain

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

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl Serialize for ManipulationDomain

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

where __S: Serializer,

Serialize this value into the given Serde serializer.