Struct JointDataFixed 

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

Data structure containing the mutable properties of a fixed joint.

Fields

joint_q: Configuration

The joint configuration vector (always empty).

joint_v: Configuration

The joint velocity vector (always empty).

placement: SE3

The placement of the joint in the local frame.

joint_velocity: SpatialMotion

The joint velocity as a spatial motion.

Implementations

impl JointDataFixed

pub fn new() -> Self

Creates a new JointDataFixed from given joint model.

Arguments

• joint_model - The fixed joint model.

Returns

A new JointDataFixed object.

Trait Implementations

impl Clone for JointDataFixed

fn clone(&self) -> JointDataFixed

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for JointDataFixed

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

Formats the value using the given formatter.

impl Default for JointDataFixed

fn default() -> Self

Returns the “default value” for a type.

impl JointData for JointDataFixed

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>, )

Updates the joint data with the current position and velocity configurations.

fn get_joint_velocity(&self) -> &SpatialMotion

Returns the joint velocity as a spatial motion.