Struct JointModelContinuous 

pub struct JointModelContinuous {
    pub axis: SpatialMotion,
    pub limits: JointLimits,
    pub bias: SpatialMotion,
}

Model of a continuous joint.

This joint constraints two objects to rotate around a given axis, without limits.

Fields

axis: SpatialMotion

The axis of rotation expressed in the local frame of the joint.

limits: JointLimits

The joint limits.

bias: SpatialMotion

The (null) bias of the joint.

Implementations

impl JointModelContinuous

pub fn new(axis: Vector3D) -> Self

Creates a new JointModelContinuous with the given axis of rotation and unbounded limits.

The axis of rotation should be normalized and expressed in the local frame of the joint.

Arguments

• axis - The normalized axis of rotation expressed in the local frame of the joint.

Returns

A new JointModelContinuous object.

pub fn new_rux() -> Self

Creates a new continuous joint model with x as axis of rotation.

Returns

A new JointModelContinuous object.

pub fn new_ruy() -> Self

Creates a new continuous joint model with y as axis of rotation.

Returns

A new JointModelContinuous object.

pub fn new_ruz() -> Self

Creates a new continuous joint model with z as axis of rotation.

Returns

A new JointModelContinuous object.

Trait Implementations

impl Clone for JointModelContinuous

fn clone(&self) -> JointModelContinuous

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for JointModelContinuous

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

Formats the value using the given formatter.

impl Display for JointModelContinuous

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

Formats the value using the given formatter.

impl JointModel for JointModelContinuous

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 get_axis(&self) -> &SpatialMotion

Returns the axis of the joint, if applicable.

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 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 subspace_se3(&self, se3: &SE3) -> SpatialMotion

Applies the joint subspace constraint to a given SE3 transformation, returning the resulting spatial motion.

fn bias(&self) -> &SpatialMotion

Returns the joint bias (Coriolis and centrifugal effects).

fn integrate(&self, q: &Configuration, v: &Configuration) -> Configuration

Integrates the joint configuration given the current configuration and velocity.