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pamoja_safety_gate_command

pamoja_ffi::motion

Function pamoja_safety_gate_command 

Source 
#[unsafe(no_mangle)]
pub unsafe extern "C" fn pamoja_safety_gate_command(
    gate: *mut PamojaSafetyGate,
    desired: PamojaTwist,
    dt: f32,
) -> PamojaTwist
Expand description

Returns the command that is safe to drive for a desired one over a time step.

§Returns

A zero twist while the gate is stopped or if gate is null, and otherwise desired bounded by the limits.

§Safety

gate must be a live handle from pamoja_safety_gate_new, or null.