Trait arcos_kdl::jacobian::JointOperations [−][src]
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);
}
Expand description
Operations that are computed per-joint.
Required methods
fn get_joint_twist(&self, joint_index: usize) -> Twist
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)
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>)
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)
fn new_ref_frame(&mut self, new_ref: Frame)
Change the reference frame of each twist