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Data

dynamics_rs::prelude

Struct Data

pub struct Data {
    pub joint_data: Vec<JointDataWrapper>,
    pub joint_placements: Vec<SE3>,
    pub frame_placements: Vec<SE3>,
    pub local_joint_placements: Vec<SE3>,
    pub joint_velocities: Vec<SpatialMotion>,
    pub joint_accelerations: Vec<SpatialMotion>,
    pub joint_accelerations_gravity_free: Vec<SpatialMotion>,
    pub joint_momenta: Vec<SpatialForce>,
    pub joint_forces: Vec<SpatialForce>,
    pub tau: Configuration,
}

Expand description

Structure containing the mutable properties of the robot.

Fields§

§joint_data: Vec<JointDataWrapper>

The data of the joints

§joint_placements: Vec<SE3>

The placements of the joints in the world frame (oMi)

§frame_placements: Vec<SE3>

Placements of the frames in the world frame (oMf)

§local_joint_placements: Vec<SE3>

The local joint placements in the parent frame (liMi)

§joint_velocities: Vec<SpatialMotion>

Velocities of the joints in the world frame (v)

§joint_accelerations: Vec<SpatialMotion>

Accelerations of the joints in the world frame (a)

§joint_accelerations_gravity_free: Vec<SpatialMotion>

Accelerations of the joints in the world frame without gravity (a_gf)

§joint_momenta: Vec<SpatialForce>

The spatial momenta of the joint in the local frame (h), inertia times velocity

§joint_forces: Vec<SpatialForce>

The spatial forces of the joint in the local frame (f), inertia times acceleration plus the Coriolis term

§tau: Configuration

The configuration of torques/forces applied to the joints (tau)

Implementations§

impl Data

pub fn from_joints_data( joint_data: Vec<JointDataWrapper>, model: &Model, ) -> Data

Creates a new Data object from the given joint datas and model.

§Arguments

joint_data - A vector of joint data wrappers.
model - The robot model.

§Returns

A new Data object.

Auto Trait Implementations§

impl Freeze for Data

impl RefUnwindSafe for Data

impl Send for Data

impl Sync for Data

impl Unpin for Data

impl UnwindSafe for Data

Blanket Implementations§

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

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Immutably borrows from an owned value. Read more

impl<T> BorrowMut<T> for T
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fn borrow_mut(&mut self) -> &mut T

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impl<T> From<T> for T

fn from(t: T) -> T

Returns the argument unchanged.

impl<T, U> Into<U> for T
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Calls U::from(self).

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

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