RwCommand
Defined in: command.rs:21
pub enum RwCommand { Speeds(Vec<f64>), Torques(Vec<f64>),}Per-wheel RW command.
The variant selects the command mode: target speeds (the host motor model converts to torque) or direct motor torques (applied after rate/saturation clamping).
Variants
Section titled “Variants”Speeds
Section titled “Speeds”Speeds(Vec<f64>)
Target speeds [rad/s]. Host motor model generates torque.
Torques
Section titled “Torques”Torques(Vec<f64>)
Direct motor torques [N·m]. Applied after clamp.
Methods
Section titled “Methods”is_finite()
Section titled “is_finite()”fn is_finite(&self) -> bool
Returns true if every element in the command is finite.