Struct RevoluteJoint 

pub struct RevoluteJoint<N: RealField + Copy> { /* private fields */ }

A unit joint that allows only one relative rotational degree of freedom between two multibody links.

Implementations

impl<N: RealField + Copy> RevoluteJoint<N>

pub fn new(angle: N) -> Self

Create a new revolute joint with an initial angle.

pub fn axis(&self) -> Unit<AngularVector<N>>

The axis of the rotational degree of freedom.

pub fn angle(&self) -> N

The angle of rotation.

pub fn rotation(&self) -> &Rotation<N>

The rotation from an attached multibody link to its dependent.

pub fn local_jacobian(&self) -> &Velocity<N>

The jacobian of this joint expressed in the local coordinate frame of the joint.

pub fn local_jacobian_dot(&self) -> &Velocity<N>

The time-derivative of the jacobian of this joint expressed in the local coordinate frame of the joint.

pub fn local_jacobian_dot_veldiff(&self) -> &Velocity<N>

The velocity-derivative of the time-derivative of the jacobian of this joint expressed in the local coordinate frame of the joint.

pub fn min_angle(&self) -> Option<N>

The lower limit of the rotation angle.

pub fn max_angle(&self) -> Option<N>

The upper limit of the rotation angle.

pub fn disable_min_angle(&mut self)

Disable the lower limit of the rotation angle.

pub fn disable_max_angle(&mut self)

Disable the upper limit of the rotation angle.

pub fn enable_min_angle(&mut self, limit: N)

Enable and set the lower limit of the rotation angle.

pub fn enable_max_angle(&mut self, limit: N)

Enable and set the upper limit of the rotation angle.

pub fn is_angular_motor_enabled(&self) -> bool

Return true if the angular motor of this joint is enabled.

pub fn enable_angular_motor(&mut self)

Enable the angular motor of this joint.

pub fn disable_angular_motor(&mut self)

Disable the angular motor of this joint.

pub fn desired_angular_motor_velocity(&self) -> N

The desired angular velocity of the joint motor.

pub fn set_desired_angular_motor_velocity(&mut self, vel: N)

Set the desired angular velocity of the joint motor.

pub fn max_angular_motor_velocity(&self) -> N

The max angular velocity that the joint motor will attempt.

pub fn set_max_angular_motor_velocity(&mut self, max_vel: N)

Set the maximum angular velocity that the joint motor will attempt.

pub fn max_angular_motor_torque(&self) -> N

The maximum torque that can be delivered by the joint motor.

pub fn set_max_angular_motor_torque(&mut self, torque: N)

Set the maximum torque that can be delivered by the joint motor.

Trait Implementations

impl<N: Clone + RealField + Copy> Clone for RevoluteJoint<N>

fn clone(&self) -> RevoluteJoint<N>

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl<N: Debug + RealField + Copy> Debug for RevoluteJoint<N>

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

Formats the value using the given formatter.

impl<N: RealField + Copy> Joint<N> for RevoluteJoint<N>

fn ndofs(&self) -> usize

The number of degrees of freedom allowed by the joint.

fn body_to_parent( &self, parent_shift: &Vector<N>, body_shift: &Vector<N>, ) -> Isometry<N>

The position of the multibody link containing this joint relative to its parent.

fn update_jacobians(&mut self, body_shift: &Vector<N>, vels: &[N])

Update the jacobians of this joint.

fn jacobian(&self, transform: &Isometry<N>, out: &mut JacobianSliceMut<'_, N>)

Sets in out the non-zero entries of the joint jacobian transformed by transform.

fn jacobian_dot( &self, transform: &Isometry<N>, out: &mut JacobianSliceMut<'_, N>, )

Sets in out the non-zero entries of the time-derivative of the joint jacobian transformed by transform.

fn jacobian_dot_veldiff_mul_coordinates( &self, transform: &Isometry<N>, acc: &[N], out: &mut JacobianSliceMut<'_, N>, )

Sets in out the non-zero entries of the velocity-derivative of the time-derivative of the joint jacobian transformed by transform.

fn integrate(&mut self, parameters: &IntegrationParameters<N>, vels: &[N])

Integrate the position of this joint.

fn default_damping(&self, out: &mut DVectorSliceMut<'_, N>)

Fill out with the non-zero entries of a damping that can be applied by default to ensure a good stability of the joint.

fn apply_displacement(&mut self, disp: &[N])

Apply a displacement to the joint.

fn jacobian_mul_coordinates(&self, acc: &[N]) -> Velocity<N>

Multiply the joint jacobian by generalized velocities to obtain the relative velocity of the multibody link containing this joint.

fn jacobian_dot_mul_coordinates(&self, acc: &[N]) -> Velocity<N>

Multiply the joint jacobian by generalized accelerations to obtain the relative acceleration of the multibody link containing this joint.

fn clone(&self) -> Box<dyn Joint<N>>

fn num_velocity_constraints(&self) -> usize

Maximum number of velocity constrains that can be generated by this joint.

fn velocity_constraints( &self, parameters: &IntegrationParameters<N>, multibody: &Multibody<N>, link: &MultibodyLink<N>, assembly_id: usize, dof_id: usize, ext_vels: &[N], ground_j_id: &mut usize, jacobians: &mut [N], constraints: &mut ConstraintSet<N, (), (), usize>, )

Initialize and generate velocity constraints to enforce, e.g., joint limits and motors.

fn num_position_constraints(&self) -> usize

The maximum number of non-linear position constraints that can be generated by this joint.

fn position_constraint( &self, _: usize, multibody: &Multibody<N>, link: &MultibodyLink<N>, handle: BodyPartHandle<()>, dof_id: usize, jacobians: &mut [N], ) -> Option<GenericNonlinearConstraint<N, ()>>

Initialize and generate the i-th position constraints to enforce, e.g., joint limits.

fn nimpulses(&self) -> usize

The maximum number of impulses needed by this joints for its constraints.

impl<N: RealField + Copy> UnitJoint<N> for RevoluteJoint<N>

fn position(&self) -> N

The generalized coordinate of the unit joint.

fn motor(&self) -> &JointMotor<N, N>

The motor applied to the degree of freedom of the unit joitn.

fn min_position(&self) -> Option<N>

The lower limit, if any, set to the generalized coordinate of this unit joint.

fn max_position(&self) -> Option<N>

The upper limit, if any, set to the generalized coordinate of this unit joint.

impl<N: Copy + RealField + Copy> Copy for RevoluteJoint<N>