Struct MotionDomain 

pub struct MotionDomain {
    pub speed_mps: Option<f64>,
    pub linear_velocity: Option<LinearVelocity>,
    pub angular_velocity: Option<AngularVelocity>,
    pub linear_acceleration: Option<LinearAcceleration>,
    pub angular_acceleration: Option<AngularAcceleration>,
    pub odometry: Option<Odometry>,
    pub motion_state: Option<MotionState>,
    pub frame_id: Option<String>,
    pub commanded_linear_mps: Option<f64>,
    pub commanded_angular_dps: Option<f64>,
}

Motion domain containing velocity and movement information.

Fields

speed_mps: Option<f64>

Overall speed in meters per second

linear_velocity: Option<LinearVelocity>

Linear velocity components

angular_velocity: Option<AngularVelocity>

Angular velocity components

linear_acceleration: Option<LinearAcceleration>

Linear acceleration components

angular_acceleration: Option<AngularAcceleration>

Angular acceleration components

odometry: Option<Odometry>

Odometry data

motion_state: Option<MotionState>

Current motion state

frame_id: Option<String>

Reference frame for velocities (e.g., “base_link”, “odom”)

commanded_linear_mps: Option<f64>

Commanded linear velocity (from controller)

commanded_angular_dps: Option<f64>

Commanded angular velocity (from controller)

Implementations

impl MotionDomain

pub fn from_speed(speed_mps: f64) -> Self

Create a motion domain with just speed.

pub fn from_linear(x_mps: f64, y_mps: f64, z_mps: f64) -> Self

Create a motion domain with linear velocity components.

pub fn with_angular(self, yaw_dps: f64) -> Self

Builder method to add angular velocity.

pub fn with_state(self, state: MotionState) -> Self

Builder method to add motion state.

pub fn with_odometry(self, distance_m: f64) -> Self

Builder method to add odometry.

Trait Implementations

impl Clone for MotionDomain

fn clone(&self) -> MotionDomain

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for MotionDomain

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

Formats the value using the given formatter.

impl Default for MotionDomain

fn default() -> MotionDomain

Returns the “default value” for a type.

impl<'de> Deserialize<'de> for MotionDomain

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

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl Serialize for MotionDomain

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

where __S: Serializer,

Serialize this value into the given Serde serializer.

impl Validate for MotionDomain

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

impl<'v_a> ValidateArgs<'v_a> for MotionDomain

type Args = ()

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