pub struct MultibodyJointLimitsNonlinearConstraintGenerator;Expand description
A non-linear position constraint generator to enforce multibody joint limits.
Implementations§
Trait Implementations§
Source§impl<N: RealField + Copy, Handle: BodyHandle> NonlinearConstraintGenerator<N, Handle> for MultibodyJointLimitsNonlinearConstraintGenerator
impl<N: RealField + Copy, Handle: BodyHandle> NonlinearConstraintGenerator<N, Handle> for MultibodyJointLimitsNonlinearConstraintGenerator
Source§fn num_position_constraints(&self, _: &dyn BodySet<N, Handle = Handle>) -> usize
fn num_position_constraints(&self, _: &dyn BodySet<N, Handle = Handle>) -> usize
Maximum of non-linear position constraint this generator needs to output.
Source§fn position_constraint(
&self,
_: &IntegrationParameters<N>,
_: usize,
_: &mut dyn BodySet<N, Handle = Handle>,
_: &mut [N],
) -> Option<GenericNonlinearConstraint<N, Handle>>
fn position_constraint( &self, _: &IntegrationParameters<N>, _: usize, _: &mut dyn BodySet<N, Handle = Handle>, _: &mut [N], ) -> Option<GenericNonlinearConstraint<N, Handle>>
Generate the
i-th position constraint of this generator.Auto Trait Implementations§
impl Freeze for MultibodyJointLimitsNonlinearConstraintGenerator
impl RefUnwindSafe for MultibodyJointLimitsNonlinearConstraintGenerator
impl Send for MultibodyJointLimitsNonlinearConstraintGenerator
impl Sync for MultibodyJointLimitsNonlinearConstraintGenerator
impl Unpin for MultibodyJointLimitsNonlinearConstraintGenerator
impl UnwindSafe for MultibodyJointLimitsNonlinearConstraintGenerator
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