feat: pose_add

lebai-robotics · Jun 7, 2023 · 1987b38 · 1987b38
1 parent f80641f
commit 1987b38
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Showing 2 changed files with 9 additions and 9 deletions.
diff --git a/src/lib.rs b/src/lib.rs
@@ -93,8 +93,8 @@ pub mod lebai_sdk {
         }
         #[classmethod]
         #[cmod::tags(args(pose, frame, delta), ret)]
-        pub async fn pose_add(&self, pose: Pose, frame: CartesianPose, delta: CartesianPose) -> Result<CartesianPose> {
-            self.0.pose_add(pose, frame, delta).await
+        pub async fn pose_add(&self, pose: Pose, delta: CartesianPose, frame: Option<CartesianPose>) -> Result<CartesianPose> {
+            self.0.pose_add(pose, delta, frame).await
         }
         #[classmethod]
         #[cmod::tags(args(p), ret)]

diff --git a/src/rpc/posture.rs b/src/rpc/posture.rs
@@ -1,7 +1,7 @@
 use super::Robot;
 use cmod::Result;
 use proto::lebai::db::*;
-use proto::lebai::posture::*;
+use proto::lebai::posture::{self, *};
 use proto::posture::{CartesianPose, JointPose, Pose};
 
 impl Robot {
@@ -26,15 +26,15 @@ impl Robot {
         let pose = self.c.get_pose_trans(Some(req)).await.map_err(|e| e.to_string())?;
         Ok(pose.into())
     }
-    pub async fn pose_add(&self, pose: Pose, frame: CartesianPose, delta: CartesianPose) -> Result<CartesianPose> {
-        let delta = Pose::Cart(delta).into();
-        let mut req = GetPoseAddRequest {
+    pub async fn pose_add(&self, pose: Pose, delta: CartesianPose, frame: Option<CartesianPose>) -> Result<CartesianPose> {
+        let mut delta: posture::Pose = Pose::Cart(delta).into();
+        if let Some(frame) = frame {
+            delta.cart_frame = Some(frame.into());
+        }
+        let req = GetPoseAddRequest {
             pose: Some(pose.into()),
             delta: Some(delta),
         };
-        if let Some(delta) = &mut req.delta {
-            delta.cart_frame = Some(frame.into());
-        }
         let pose = self.c.get_pose_add(Some(req)).await.map_err(|e| e.to_string())?;
         Ok(pose.into())
     }