Struct Twist 

pub struct Twist {
    pub linear: Vector3,
    pub angular: Vector3,
}

A body velocity command (geometry_msgs/msg/Twist): a linear and an angular Vector3.

This is the message a ROS 2 robot is driven by on cmd_vel, the natural target for the body twists the pamoja-kit chassis and navigation helpers produce.

Examples

use pamoja_ros2::msg::{Twist, Vector3};

let cmd = Twist {
    linear: Vector3::new(0.5, 0.0, 0.0),
    angular: Vector3::new(0.0, 0.0, 0.2),
};
assert_eq!(Twist::from_cdr(&cmd.to_cdr()), Some(cmd));

Fields

linear: Vector3

The linear velocity, in metres per second.

angular: Vector3

The angular velocity, in radians per second.

Implementations

impl Twist

pub fn to_cdr(&self) -> Vec<u8>

Encodes the twist as a CDR message.

Returns

The CDR-encoded bytes, header included.

pub fn from_cdr(data: &[u8]) -> Option<Self>

Decodes a twist from a CDR message.

Arguments

• data - the CDR-encoded bytes, header included.

Returns

Some(twist), or None if the buffer is not a valid little-endian CDR twist.

Trait Implementations

impl Clone for Twist

fn clone(&self) -> Twist

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for Twist

impl Debug for Twist

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

Formats the value using the given formatter.

impl PartialEq for Twist

fn eq(&self, other: &Twist) -> 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 StructuralPartialEq for Twist