Struct JointWrapper 

pub struct JointWrapper { /* private fields */ }

Wrapper struct for different joint model implementations.

This struct provides a unified interface to interact with different joint types through the JointModel trait. It serves as the main entry point for users of the library to work with joints.

Implementations

impl JointWrapper

pub fn continuous(joint: JointModelContinuous) -> Self

Creates a new JointWrapper from a JointModelContinuous.

pub fn prismatic(joint: JointModelPrismatic) -> Self

Creates a new JointWrapper from a JointModelPrismatic.

pub fn revolute(joint: JointModelRevolute) -> Self

Creates a new JointWrapper from a JointModelRevolute.

pub fn fixed(joint: JointModelFixed) -> Self

Creates a new JointWrapper from a JointModelFixed.

Trait Implementations

impl Clone for JointWrapper

fn clone(&self) -> JointWrapper

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for JointWrapper

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

Formats the value using the given formatter.

impl JointModel for JointWrapper

fn get_joint_type(&self) -> JointType

Returns the joint type.

fn nq(&self) -> usize

Returns the number of position variables.

fn nv(&self) -> usize

Returns the number of velocity variables.

fn neutral(&self) -> Configuration

Returns the neutral configuration of the joint.

fn create_joint_data(&self) -> JointDataWrapper

Creates the joint data.

fn random_configuration(&self, rng: &mut ThreadRng) -> Configuration

Returns a random configuration for the joint.

fn get_axis(&self) -> Vec<SpatialMotion>

Returns the axis of the joint, if applicable.

fn subspace(&self, v: &Configuration) -> SpatialMotion

Applies the joint subspace constraint to obtain the motion associated with a given velocity configuration.

fn subspace_dual(&self, f: &SpatialForce) -> Configuration

Applies the dual of the joint subspace constraint to obtain the force/torque associated with a given spatial force.

fn bias(&self) -> SpatialMotion

Returns the joint bias (Coriolis and centrifugal effects).