Motion and Control

MotionSpace

MotionSpace<R> has one associated type, Target. It maps a command space to the data carried by a command in that space.

Space	Target	Requirement
JointSpace<N>	[f64; N]	R: Joints<N>
EndSpace	Pose	R: EndPoint
FlangeSpace	Pose	any R
TcpSpace	Pose	any R
Relative<S>	S::Target	S: MotionSpace<R>
Inertial<S>	S::Target	S: MotionSpace<R>

MoveTo<S> is for one target. MoveTraj<S> is for dense trajectories, continuous paths and waypoints. Motion is a blanket trait that forwards user calls to the concrete MoveTo / MoveTraj implementations.

MoveTraj Funnel

move_waypoints -> driver interpolation/planning -> move_traj
move_path      -> driver sampling/planning       -> move_traj
move_traj      -> hardware/simulator command

Default move_path / move_waypoints mean that no planner is installed. Drivers that support them should override the methods and eventually call their own move_traj.

ControlSpace

ControlSpace<R> is the control-side counterpart of MotionSpace<R>:

Channel	Obs	Command
TorqueControl<N>	ArmState<N>	[f64; N]
JointPositionControl<N>	ArmState<N>	[f64; N]
JointVelocityControl<N>	ArmState<N>	[f64; N]
CartesianVelocityControl<N>	ArmState<N>	[f64; 6]

Several channels share [f64; N] as the command type, but their marker types remain distinct.

RealtimeControl

Drivers implement RealtimeControl<S>:

fn control_with_closure<F>(&mut self, closure: F) -> RobotResult<()>
where
    F: FnMut(S::Obs, Duration) -> (S::Command, bool) + Send + 'static;

The closure receives one observation and dt per control cycle, then returns the next command and a done flag. safe_command() provides the fallback command for disconnects or abnormal exits.