Struct k::joint::Mimic

pub struct Mimic<T: RealField> {
    pub multiplier: T,
    pub origin: T,
}

Information for copying joint state of other joint

For example, Mimic is used to calculate the position of the gripper(R) from gripper(L). In that case, the code like below will be used.

let mimic_for_gripper_r = k::joint::Mimic::new(-1.0, 0.0);

output position (mimic_position() is calculated by joint positions = joint[name] * multiplier + origin

Fields

multiplier: T

origin: T

Implementations

impl<T> Mimic<T>

where T: RealField,

pub fn new(multiplier: T, origin: T) -> Self

Create new instance of Mimic

Examples

let m = k::joint::Mimic::<f64>::new(1.0, 0.5);

pub fn mimic_position(&self, from_position: T) -> T

Calculate the mimic joint position

Examples

let m = k::joint::Mimic::<f64>::new(1.0, 0.5);
assert_eq!(m.mimic_position(0.2), 0.7); // 0.2 * 1.0 + 0.5

let m = k::joint::Mimic::<f64>::new(-2.0, -0.4);
assert_eq!(m.mimic_position(0.2), -0.8); // 0.2 * -2.0 - 0.4

Trait Implementations

impl<T: Clone + RealField> Clone for Mimic<T>

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

Returns a copy of the value.

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

Performs copy-assignment from source.

impl<T: Debug + RealField> Debug for Mimic<T>

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

Formats the value using the given formatter.

impl<T> From<&Mimic> for Mimic<T>

where T: RealField,

fn from(urdf_mimic: &Mimic) -> Self

Converts to this type from the input type.