Struct k::Joint

pub struct Joint<T: Real> {
    pub name: String,
    pub joint_type: JointType<T>,
    pub limits: Option<Range<T>>,
    // some fields omitted
}

Joint with type

Fields

name: String

Name of this joint

joint_type: JointType<T>

Type of this joint

limits: Option<Range<T>>

Limits of this joint

Methods

impl<T> Joint<T> where     T: Real,

pub fn new(name: &str, joint_type: JointType<T>) -> Joint<T>

Create new Joint with name and type

pub fn set_angle(&mut self, angle: T) -> Result<(), JointError>

Set the angle of the joint

It returns Err if it is out of the limits, or this is fixed joint.

pub fn angle(&self) -> Option<T>

Returns the angle (position)

pub fn transform(&self) -> Isometry3<T>

Calculate and returns the transform of the end of this joint

Trait Implementations

impl<T: Debug + Real> Debug for Joint<T>

fn fmt(&self, f: &mut Formatter) -> Result

Formats the value using the given formatter.

impl<T: Clone + Real> Clone for Joint<T>

fn clone(&self) -> Joint<T>

Returns a copy of the value.

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

Performs copy-assignment from source.