move_pt

lebai-robotics · Jun 7, 2024 · 2df8aa2 · 2df8aa2
1 parent 7f80a13
commit 2df8aa2
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Showing 2 changed files with 26 additions and 7 deletions.
diff --git a/src/lib.rs b/src/lib.rs
@@ -110,7 +110,7 @@ pub mod lebai_sdk {
         #[classmethod]
         #[cmod::tags(args(pose, refer))]
         pub async fn save_pose(&self, name: String, pose: Option<Pose>, dir: Option<String>, refer: Option<JointPose>) -> Result<()> {
-            self.0.save_pose(name, pose, dir,refer).await
+            self.0.save_pose(name, pose, dir, refer).await
         }
         #[classmethod]
         #[cmod::tags(ret)]
@@ -169,14 +169,19 @@ pub mod lebai_sdk {
             self.0.movec(via, p, rad, a, v, t, r).await
         }
         #[classmethod]
+        #[cmod::tags(args(p, v, a))]
+        pub async fn move_pvat(&self, p: JointPose, v: Vec<f64>, a: Vec<f64>, t: f64) -> Result<()> {
+            self.0.move_pvat(p, v, a, t).await
+        }
+        #[classmethod]
         #[cmod::tags(args(p, v))]
         pub async fn move_pvt(&self, p: JointPose, v: Vec<f64>, t: f64) -> Result<()> {
             self.0.move_pvt(p, v, t).await
         }
         #[classmethod]
-        #[cmod::tags(args(p, v, a))]
-        pub async fn move_pvat(&self, p: JointPose, v: Vec<f64>, a: Vec<f64>, t: f64) -> Result<()> {
-            self.0.move_pvat(p, v, a, t).await
+        #[cmod::tags(args(p))]
+        pub async fn move_pt(&self, p: JointPose, t: f64) -> Result<()> {
+            self.0.move_pt(p, t).await
         }
         #[classmethod]
         pub async fn move_trajectory(&self, name: String, dir: Option<String>) -> Result<u32> {

diff --git a/src/rpc/motion.rs b/src/rpc/motion.rs
@@ -96,6 +96,19 @@ impl Robot {
         Ok(id.id)
     }
 
+    pub async fn move_pvat(&self, p: JointPose, v: Vec<f64>, a: Vec<f64>, t: f64) -> Result<()> {
+        let mut joints = Vec::new();
+        for i in 0..p.0.len() {
+            joints.push(JointMove {
+                pose: p.0[i],
+                velocity: v.get(i).copied(),
+                acc: a.get(i).copied(),
+            })
+        }
+        let req = MovePvatRequest { duration: t, joints };
+        self.c.move_pvat(Some(req)).await.map_err(|e| e.to_string())?;
+        Ok(())
+    }
     pub async fn move_pvt(&self, p: JointPose, v: Vec<f64>, t: f64) -> Result<()> {
         let mut joints = Vec::new();
         for i in 0..p.0.len() {
@@ -109,19 +122,20 @@ impl Robot {
         self.c.move_pvat(Some(req)).await.map_err(|e| e.to_string())?;
         Ok(())
     }
-    pub async fn move_pvat(&self, p: JointPose, v: Vec<f64>, a: Vec<f64>, t: f64) -> Result<()> {
+    pub async fn move_pt(&self, p: JointPose, t: f64) -> Result<()> {
         let mut joints = Vec::new();
         for i in 0..p.0.len() {
             joints.push(JointMove {
                 pose: p.0[i],
-                velocity: v.get(i).copied(),
-                acc: a.get(i).copied(),
+                velocity: None,
+                acc: None,
             })
         }
         let req = MovePvatRequest { duration: t, joints };
         self.c.move_pvat(Some(req)).await.map_err(|e| e.to_string())?;
         Ok(())
     }
+
     pub async fn move_trajectory(&self, name: String, dir: Option<String>) -> Result<u32> {
         let req = LoadRequest {
             name,