Struct k::Joint [−][src]
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,
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impl<T> Joint<T> where
T: Real,
pub fn new(name: &str, joint_type: JointType<T>) -> Joint<T>
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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>
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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>
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pub fn angle(&self) -> Option<T>
Returns the angle (position)
pub fn transform(&self) -> Isometry3<T>
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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>
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impl<T: Debug + Real> Debug for Joint<T>
fn fmt(&self, f: &mut Formatter) -> Result
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fn fmt(&self, f: &mut Formatter) -> Result
Formats the value using the given formatter. Read more
impl<T: Clone + Real> Clone for Joint<T>
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impl<T: Clone + Real> Clone for Joint<T>