Struct MitCmd 

pub struct MitCmd {
    pub kp: f64,
    pub kd: f64,
    pub q: f64,
    pub dq: f64,
    pub tau: f64,
}

MIT impedance command.

Fields

kp: f64

Position gain.

kd: f64

Velocity gain.

q: f64

Position setpoint (radians).

dq: f64

Velocity setpoint (rad/s).

tau: f64

Feed-forward torque (Nm).

Trait Implementations

impl Clone for MitCmd

fn clone(&self) -> MitCmd

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for MitCmd

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

Formats the value using the given formatter.

impl From<MitCmd> for Command

fn from(c: MitCmd) -> Self

Converts to this type from the input type.

impl PartialEq for MitCmd

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

Tests for self and other values to be equal, and is used by ==.

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

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

impl Copy for MitCmd

impl StructuralPartialEq for MitCmd