Struct rubullet::Jacobian

pub struct Jacobian {
    pub jacobian: Matrix6xX<f64>,
}

Specifies a jacobian with 6 rows. The jacobian is split into a linear part and an angular part.

Example

Jacobian can be multiplied with joint velocities to get a velocity in cartesian coordinates:

let jacobian = Jacobian{jacobian:Matrix6xX::from_vec(vec![0.;12])};
let velocity: Velocity = jacobian * DVector::from_vec(vec![1.;2]);

See also

• PhysicsClient::calculate_jacobian()

Fields

jacobian: Matrix6xX<f64>

Implementations

impl Jacobian

pub fn get_linear_jacobian(&self) -> Matrix3xX<f64>

Linear part of the the jacobian (first 3 rows)

pub fn get_angular_jacobian(&self) -> Matrix3xX<f64>

Angular part of the the jacobian (last 3 rows)

Trait Implementations

impl Clone for Jacobian

fn clone(&self) -> Jacobian

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for Jacobian

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

Formats the value using the given formatter.

impl<T: Into<DVector<f64>>> Mul<T> for Jacobian

type Output = Velocity

The resulting type after applying the * operator.

fn mul(self, q_dot: T) -> Self::Output

Performs the * operation.