Struct rubullet::JointState [−][src]
Represents the current state of a joint. It can be retrieved via get_joint_state()
Note
joint_force_torque will be [0.;6] if the sensor is not enabled via
enable_joint_torque_sensor()
See also
JointInfo- For basic information about a joint
Fields
joint_position: f64The position value of this joint.
joint_velocity: f64The velocity value of this joint.
joint_force_torque: [f64; 6]These are the joint reaction forces, if a torque sensor is enabled for this joint it is [Fx, Fy, Fz, Mx, My, Mz]. Without torque sensor, it is [0,0,0,0,0,0]. This is is NOT the motor torque/force, but the spatial reaction force vector at joint.
joint_motor_torque: f64This is the motor torque applied during the last step_simulation().
Note that this only applies in velocity and position control.
If you use torque control then the applied joint motor torque is exactly what you provide,
so there is no need to report it separately.
Trait Implementations
impl Clone for JointState[src]
fn clone(&self) -> JointState[src]
pub fn clone_from(&mut self, source: &Self)1.0.0[src]
impl Copy for JointState[src]
impl Debug for JointState[src]
impl Default for JointState[src]
fn default() -> JointState[src]
impl From<b3JointSensorState> for JointState[src]
fn from(b3: b3JointSensorState) -> Self[src]
Auto Trait Implementations
impl RefUnwindSafe for JointState
impl Send for JointState
impl Sync for JointState
impl Unpin for JointState
impl UnwindSafe for JointState
Blanket Implementations
impl<T> Any for T where
T: 'static + ?Sized, [src]
T: 'static + ?Sized,
impl<T> Borrow<T> for T where
T: ?Sized, [src]
T: ?Sized,
impl<T> BorrowMut<T> for T where
T: ?Sized, [src]
T: ?Sized,
pub fn borrow_mut(&mut self) -> &mut T[src]
impl<T> From<T> for T[src]
impl<T, U> Into<U> for T where
U: From<T>, [src]
U: From<T>,
impl<T> Pointable for T
pub const ALIGN: usize
type Init = T
The type for initializers.
pub unsafe fn init(init: <T as Pointable>::Init) -> usize
pub unsafe fn deref<'a>(ptr: usize) -> &'a T
pub unsafe fn deref_mut<'a>(ptr: usize) -> &'a mut T
pub unsafe fn drop(ptr: usize)
impl<T> Same<T> for T
type Output = T
Should always be Self
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
SS: SubsetOf<SP>,
pub fn to_subset(&self) -> Option<SS>
pub fn is_in_subset(&self) -> bool
pub fn to_subset_unchecked(&self) -> SS
pub fn from_subset(element: &SS) -> SP
impl<T> ToOwned for T where
T: Clone, [src]
T: Clone,
type Owned = T
The resulting type after obtaining ownership.
pub fn to_owned(&self) -> T[src]
pub fn clone_into(&self, target: &mut T)[src]
impl<T, U> TryFrom<U> for T where
U: Into<T>, [src]
U: Into<T>,
type Error = Infallible
The type returned in the event of a conversion error.
pub fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>[src]
impl<T, U> TryInto<U> for T where
U: TryFrom<T>, [src]
U: TryFrom<T>,
type Error = <U as TryFrom<T>>::Error
The type returned in the event of a conversion error.
pub fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>[src]
impl<V, T> VZip<V> for T where
V: MultiLane<T>,
V: MultiLane<T>,