Struct arcos_kdl::joint::Joint

pub struct Joint { /* fields omitted */ }

Defines a robotic Joint

joint_type: JointType that defines the type of the joint
scale: received cmd mut moves cmd*scale units
offset: received cmd mut moves cmd+offset
inertia: Meassurement of inertia for Dynamic purposes
damping: Used for Impedance control
stiffness: Used for Impedance control
axis: Rotational or translational axis of this joint

Methods

impl Joint

pub fn default() -> Joint

Returns the default Joint, of type NoJoint, no scale, offset or any Dynamic parameter.

pub fn set_type(&self, new_joint_type: JointType) -> Joint

Create a new Joint with the given Type, and sets the appropiate axis

pub fn set_scale(&self, new_scale: f64) -> Joint

Create a new Joint with the given scale

pub fn set_offset(&self, new_offset: f64) -> Joint

Create a new Joint with the given offset

pub fn set_inertia(&self, new_inertia: f64) -> Joint

Create a new Joint with the given inertial parameter

pub fn set_damping(&self, new_damping: f64) -> Joint

Create a new Joint with the given damping parameter

pub fn set_stiffness(&self, new_stiffness: f64) -> Joint

Create a new Joint with the given stiffness parameter

pub fn get_joint_type(&self) -> JointType

Returns the type of this Joint

pub fn pose(&self, joint_state: f64) -> Frame

Calculates the pose of the Joint, given its current state

pub fn twist(&self, qdot: f64) -> Twist

Calculates the velocity of the Joint, given its current joint-speed

pub fn joint_axis(&self) -> Vector

Get the action-axis of this Joint

Trait Implementations

impl Clone for Joint

fn clone(&self) -> Joint

Returns a copy of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Copy for Joint