Struct JointDataContinuous 

pub struct JointDataContinuous {
    pub joint_q: Configuration,
    pub joint_v: Configuration,
    pub placement: SE3,
    pub joint_velocity: SpatialMotion,
}

Data structure containing the mutable properties of a continuous joint.

Fields

joint_q: Configuration

The joint configuration vector (cosine and sine of the angle).

joint_v: Configuration

The joint velocity vector (angular velocity).

placement: SE3

The placement of the joint in the local frame.

joint_velocity: SpatialMotion

The joint velocity as a spatial motion.

Implementations

impl JointDataContinuous

pub fn new(_joint_model: &JointModelContinuous) -> Self

Creates a new JointDataContinuous object.

Arguments

• model - The continuous joint model.

Returns

A new JointDataContinuous object.

pub fn cos(&self) -> f64

Returns the cosine of the joint angle.

pub fn sin(&self) -> f64

Returns the sine of the joint angle.

Trait Implementations

impl Clone for JointDataContinuous

fn clone(&self) -> JointDataContinuous

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for JointDataContinuous

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

Formats the value using the given formatter.

impl Default for JointDataContinuous

fn default() -> Self

Returns the “default value” for a type.

impl JointData for JointDataContinuous

fn get_joint_q(&self) -> &Configuration

Returns the joint configuration vector.

fn get_joint_v(&self) -> &Configuration

Returns the joint velocity vector.

fn update( &mut self, joint_model: &JointWrapper, joint_q: &Configuration, joint_v: Option<&Configuration>, ) -> Result<(), JointError>

Updates the joint data with the given model and angle.

fn get_joint_placement(&self) -> SE3

Returns the placement of the joint in the world frame.

fn get_joint_velocity(&self) -> &SpatialMotion

Returns the joint velocity as a spatial motion.