Trait nphysics3d::joint::Joint [−][src]
pub trait Joint<N: RealField + Copy>: Downcast + Send + Sync {}Show 17 methods
fn ndofs(&self) -> usize; fn body_to_parent(
&self,
parent_shift: &Vector<N>,
body_shift: &Vector<N>
) -> Isometry<N>; fn update_jacobians(&mut self, body_shift: &Vector<N>, vels: &[N]); fn integrate(&mut self, parameters: &IntegrationParameters<N>, vels: &[N]); fn apply_displacement(&mut self, disp: &[N]); fn jacobian(
&self,
transform: &Isometry<N>,
out: &mut JacobianSliceMut<'_, N>
); fn jacobian_dot(
&self,
transform: &Isometry<N>,
out: &mut JacobianSliceMut<'_, N>
); fn jacobian_dot_veldiff_mul_coordinates(
&self,
transform: &Isometry<N>,
vels: &[N],
out: &mut JacobianSliceMut<'_, N>
); fn jacobian_mul_coordinates(&self, vels: &[N]) -> Velocity<N>; fn jacobian_dot_mul_coordinates(&self, vels: &[N]) -> Velocity<N>; fn default_damping(&self, out: &mut DVectorSliceMut<'_, N>); fn clone(&self) -> Box<dyn Joint<N>>; fn nimpulses(&self) -> usize { ... } fn num_velocity_constraints(&self) -> usize { ... } fn velocity_constraints(
&self,
_params: &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],
_velocity_constraints: &mut ConstraintSet<N, (), (), usize>
) { ... } fn num_position_constraints(&self) -> usize { ... } fn position_constraint(
&self,
_i: usize,
_multibody: &Multibody<N>,
_link: &MultibodyLink<N>,
_handle: BodyPartHandle<()>,
_dof_id: usize,
_jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N, ()>> { ... }
Expand description
Trait implemented by all joints following the reduced-coordinate formation.
Required methods
fn body_to_parent(
&self,
parent_shift: &Vector<N>,
body_shift: &Vector<N>
) -> Isometry<N>
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])
fn update_jacobians(&mut self, body_shift: &Vector<N>, vels: &[N])
Update the jacobians of this joint.
fn integrate(&mut self, parameters: &IntegrationParameters<N>, vels: &[N])
fn integrate(&mut self, parameters: &IntegrationParameters<N>, vels: &[N])
Integrate the position of this joint.
fn apply_displacement(&mut self, disp: &[N])
fn apply_displacement(&mut self, disp: &[N])
Apply a displacement to the joint.
fn jacobian(&self, transform: &Isometry<N>, out: &mut JacobianSliceMut<'_, N>)
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>
)
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>,
vels: &[N],
out: &mut JacobianSliceMut<'_, N>
)
fn jacobian_dot_veldiff_mul_coordinates(
&self,
transform: &Isometry<N>,
vels: &[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 jacobian_mul_coordinates(&self, vels: &[N]) -> Velocity<N>
fn jacobian_mul_coordinates(&self, vels: &[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, vels: &[N]) -> Velocity<N>
fn jacobian_dot_mul_coordinates(&self, vels: &[N]) -> Velocity<N>
Multiply the joint jacobian by generalized accelerations to obtain the relative acceleration of the multibody link containing this joint.
fn default_damping(&self, out: &mut DVectorSliceMut<'_, N>)
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.
Provided methods
The maximum number of impulses needed by this joints for its constraints.
fn num_velocity_constraints(&self) -> usize
fn num_velocity_constraints(&self) -> usize
Maximum number of velocity constrains that can be generated by this joint.
fn velocity_constraints(
&self,
_params: &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],
_velocity_constraints: &mut ConstraintSet<N, (), (), usize>
)
fn velocity_constraints(
&self,
_params: &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],
_velocity_constraints: &mut ConstraintSet<N, (), (), usize>
)
Initialize and generate velocity constraints to enforce, e.g., joint limits and motors.
fn num_position_constraints(&self) -> usize
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,
_i: usize,
_multibody: &Multibody<N>,
_link: &MultibodyLink<N>,
_handle: BodyPartHandle<()>,
_dof_id: usize,
_jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N, ()>>
fn position_constraint(
&self,
_i: 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.
Implementations
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.
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__T
. Returns the original boxed trait if it isn’t.
Returns an Rc
-ed object from an Rc
-ed trait object if the underlying object is of
type __T
. Returns the original Rc
-ed trait if it isn’t.
Returns a reference to the object within the trait object if it is of type __T
, or
None
if it isn’t.
Returns a mutable reference to the object within the trait object if it is of type
__T
, or None
if it isn’t.