Struct JointDataWrapper 

pub struct JointDataWrapper { /* private fields */ }

Wrapper struct for different joint data implementations.

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

Implementations

impl JointDataWrapper

pub fn continuous(joint_data: JointDataContinuous) -> Self

Creates a new JointDataWrapper from a JointDataContinuous.

pub fn prismatic(joint_data: JointDataPrismatic) -> Self

Creates a new JointDataWrapper from a JointDataPrismatic.

pub fn revolute(joint_data: JointDataRevolute) -> Self

Creates a new JointDataWrapper from a JointDataRevolute.

pub fn fixed(joint_data: JointDataFixed) -> Self

Creates a new JointDataWrapper from a JointDataFixed.

Trait Implementations

impl Clone for JointDataWrapper

fn clone(&self) -> JointDataWrapper

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for JointDataWrapper

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

Formats the value using the given formatter.

impl JointData for JointDataWrapper

fn get_joint_q(&self) -> &Configuration

Returns the joint configuration vector.

fn get_joint_v(&self) -> &Configuration

Returns the joint velocity vector.

fn get_joint_placement(&self) -> SE3

Returns the placement of the joint in the world frame.

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_velocity(&self) -> &SpatialMotion

Returns the joint velocity as a spatial motion.