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JointLimits

dynamics_joint::limits

Struct JointLimits

pub struct JointLimits {
    pub effort: Configuration,
    pub velocity: Configuration,
    pub min_configuration: Configuration,
    pub max_configuration: Configuration,
    pub friction: Configuration,
    pub damping: Configuration,
    pub friction_loss: f64,
}

Expand description

A joint limit, defining the physical constraints and dynamical properties of a joint.

Fields§

§effort: Configuration

Maximum torque/force that can be applied by the joint.

§velocity: Configuration

Maximum velocity of the joint.

§min_configuration: Configuration

Minimum configuration of the joint.

§max_configuration: Configuration

Maximum configuration of the joint.

§friction: Configuration

Joint friction coefficient.

§damping: Configuration

Joint damping coefficient.

§friction_loss: f64

Dry friction loss.

Implementations§

impl JointLimits

pub fn new( effort: Configuration, velocity: Configuration, min_configuration: Configuration, max_configuration: Configuration, friction: Configuration, damping: Configuration, friction_loss: f64, ) -> Self

Creates a new JointLimits with the given parameters.

§Arguments

effort - Maximum torque/force that can be applied by the joint.
velocity - Maximum velocity of the joint.
min_configuration - Minimum configuration of the joint.
max_configuration - Maximum configuration of the joint.
friction - Joint friction coefficient.
damping - Joint damping coefficient.
friction_loss - Dry friction loss.

§Returns

A new JointLimits object.

pub fn new_unbounded(nq: usize) -> Self

Creates a new unbounded JointLimits, with infinite limits and zero friction/damping.

§Returns

A new unbounded JointLimits object.

Trait Implementations§

impl Clone for JointLimits

fn clone(&self) -> JointLimits

Returns a duplicate of the value. Read more

1.0.0 · Source§

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

Performs copy-assignment from source. Read more

impl Debug for JointLimits

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

Formats the value using the given formatter. Read more

impl PartialEq for JointLimits

fn eq(&self, other: &JointLimits) -> bool

Tests for self and other values to be equal, and is used by ==.

1.0.0 · Source§

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl StructuralPartialEq for JointLimits

Auto Trait Implementations§

impl Freeze for JointLimits

impl RefUnwindSafe for JointLimits

impl Send for JointLimits

impl Sync for JointLimits

impl Unpin for JointLimits

impl UnsafeUnpin for JointLimits

impl UnwindSafe for JointLimits

Blanket Implementations§

impl<T> Any for T
where T: 'static + ?Sized,

fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more

impl<T> Borrow<T> for T
where T: ?Sized,

fn borrow(&self) -> &T

Immutably borrows from an owned value. Read more

impl<T> BorrowMut<T> for T
where T: ?Sized,

fn borrow_mut(&mut self) -> &mut T

Mutably borrows from an owned value. Read more

impl<T> CloneToUninit for T
where T: Clone,

unsafe fn clone_to_uninit(&self, dest: *mut u8)

🔬This is a nightly-only experimental API. (clone_to_uninit)

Performs copy-assignment from self to dest. Read more

impl<T> From<T> for T

fn from(t: T) -> T

Returns the argument unchanged.

impl<T, U> Into<U> for T
where U: From<T>,

fn into(self) -> U

Calls U::from(self).

That is, this conversion is whatever the implementation of From<T> for U chooses to do.

impl<T> Same for T

type Output = T

Should always be Self

impl<SS, SP> SupersetOf<SS> for SP
where SS: SubsetOf<SP>,

fn to_subset(&self) -> Option<SS>

The inverse inclusion map: attempts to construct self from the equivalent element of its superset. Read more

fn is_in_subset(&self) -> bool

Checks if self is actually part of its subset T (and can be converted to it).

fn to_subset_unchecked(&self) -> SS

Use with care! Same as self.to_subset but without any property checks. Always succeeds.

fn from_subset(element: &SS) -> SP

The inclusion map: converts self to the equivalent element of its superset.

impl<T> ToOwned for T
where T: Clone,

type Owned = T

The resulting type after obtaining ownership.

fn to_owned(&self) -> T

Creates owned data from borrowed data, usually by cloning. Read more

fn clone_into(&self, target: &mut T)

Uses borrowed data to replace owned data, usually by cloning. Read more

impl<T, U> TryFrom<U> for T
where U: Into<T>,

type Error = Infallible

The type returned in the event of a conversion error.

fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>

Performs the conversion.

impl<T, U> TryInto<U> for T
where U: TryFrom<T>,

type Error = <U as TryFrom<T>>::Error

The type returned in the event of a conversion error.

fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>

Performs the conversion.

impl<V, T> VZip<V> for T
where V: MultiLane<T>,

fn vzip(self) -> V

impl<T> Scalar for T
where T: 'static + Clone + PartialEq + Debug,