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PusherCommand

rust_robotics_control::pusher_slider

Struct PusherCommand 

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pub struct PusherCommand {
    pub face: usize,
    pub contact: f64,
    pub push_speed: f64,
    pub tangent_speed: f64,
}
Expand description

Body-frame pusher command on one of the slider’s four faces.

face selects the contact face (0 = back -x, 1 = +y, 2 = front +x, 3 = -y). The pusher pushes along the inward normal of that face; contact is the offset along the face, push_speed is the normal speed (clamped to be non-negative), and tangent_speed is the commanded tangential slip.

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§face: usize§contact: f64§push_speed: f64§tangent_speed: f64

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impl PusherCommand

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pub fn new(contact: f64, push_speed: f64, tangent_speed: f64) -> Self

A command on the back face (face = 0).

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pub fn on_face( face: usize, contact: f64, push_speed: f64, tangent_speed: f64, ) -> Self

A command on an explicit face (wrapped into 0..4).

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impl Clone for PusherCommand

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fn clone(&self) -> PusherCommand

Returns a duplicate of the value. Read more
1.0.0 (const: unstable) · Source§

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

Performs copy-assignment from source. Read more
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impl Debug for PusherCommand

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

Formats the value using the given formatter. Read more
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impl PartialEq for PusherCommand

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

Tests for self and other values to be equal, and is used by ==.
1.0.0 (const: unstable) · Source§

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

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

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impl StructuralPartialEq for PusherCommand

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

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fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more
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impl<T> Borrow<T> for T
where T: ?Sized,

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fn borrow(&self) -> &T

Immutably borrows from an owned value. Read more
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fn borrow_mut(&mut self) -> &mut T

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impl<T> CloneToUninit for T
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unsafe fn clone_to_uninit(&self, dest: *mut u8)

🔬This is a nightly-only experimental API. (clone_to_uninit)
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impl<T> From<T> for T

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fn from(t: T) -> T

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Calls U::from(self).

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Converts self into a Left variant of Either<Self, Self> if into_left(&self) returns true. Converts self into a Right variant of Either<Self, Self> otherwise. Read more
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impl<T> Same for T

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type Output = T

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fn to_subset(&self) -> Option<SS>

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