[−][src]Trait arcos_kdl::jacobian::JointOperations

pub trait JointOperations {
    fn get_joint_twist(&self, joint_index: usize) -> Twist;

    fn new_ref_point(&mut self, new_ref: Vector);

    fn new_ref_base(&mut self, new_ref: Matrix3<f64>);

    fn new_ref_frame(&mut self, new_ref: Frame);
}

Operations that are computed per-joint.

Required methods

fn get_joint_twist(&self, joint_index: usize) -> Twist

Get the twist represented by the n-th joint

fn new_ref_point(&mut self, new_ref: Vector)

Change the reference point of each twist

fn new_ref_base(&mut self, new_ref: Matrix3<f64>)

Change the reference rotation of each twist

fn new_ref_frame(&mut self, new_ref: Frame)

Change the reference frame of each twist

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Implementors

impl JointOperations for Jacobian[src]

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