Struct JointModelFixed 

pub struct JointModelFixed { /* private fields */ }

Model of a fixed joint.

Implementations

impl JointModelFixed

pub fn new() -> Self

Creates a new JointModelFixed.

Trait Implementations

impl Clone for JointModelFixed

fn clone(&self) -> JointModelFixed

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for JointModelFixed

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

Formats the value using the given formatter.

impl Default for JointModelFixed

fn default() -> JointModelFixed

Returns the “default value” for a type.

impl Display for JointModelFixed

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

Formats the value using the given formatter.

impl JointModel for JointModelFixed

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) -> &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 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.