Trait k::JointContainer
[−]
[src]
pub trait JointContainer<T> where
T: Real, { fn set_joint_angles(&mut self, angles: &[T]) -> Result<(), JointError>; fn joint_angles(&self) -> Vec<T>; fn joint_limits(&self) -> Vec<Option<Range<T>>>; fn joint_names(&self) -> Vec<String>; }
Container of links with joints
Required Methods
fn set_joint_angles(&mut self, angles: &[T]) -> Result<(), JointError>
Set the angles of the joints
If the angle are out of the limit, it returns error.
fn joint_angles(&self) -> Vec<T>
Get the angles of the joints
fn joint_limits(&self) -> Vec<Option<Range<T>>>
Get the limits of the joints, if it exists.
fn joint_names(&self) -> Vec<String>
Get the all names of the joints