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Data

dynamics_rs::prelude

Struct Data

pub struct Data {Show 18 fields
    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 world_joint_velocities: Vec<SpatialMotion>,
    pub joint_accelerations: Vec<SpatialMotion>,
    pub joint_accelerations_gravity_field: Vec<SpatialMotion>,
    pub world_accelerations_gravity_field: Vec<SpatialMotion>,
    pub joint_momenta: Vec<SpatialForce>,
    pub world_joint_momenta: Vec<SpatialForce>,
    pub joint_forces: Vec<SpatialForce>,
    pub world_joint_forces: Vec<SpatialForce>,
    pub tau: Configuration,
    pub ddq: Configuration,
    pub jacobian: Jacobian,
    pub world_inertias: Vec<Inertia>,
    pub composite_inertias: Vec<Inertia>,
}

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 local frame (v)

§world_joint_velocities: Vec<SpatialMotion>

Velocities of the joints in the world frame (ov)

§joint_accelerations: Vec<SpatialMotion>

Accelerations of the joints in the local frame (a)

§joint_accelerations_gravity_field: Vec<SpatialMotion>

Accelerations of the joints due to the gravity field (a_gf)

§world_accelerations_gravity_field: Vec<SpatialMotion>

Accelerations of the joints in the world frame including the gravity field (oa_gf)

§joint_momenta: Vec<SpatialForce>

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

§world_joint_momenta: Vec<SpatialForce>

The spatial momenta of the joint in the world frame (oh), 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

§world_joint_forces: Vec<SpatialForce>

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

§tau: Configuration

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

§ddq: Configuration

The joint accelerations of the joints computed by the forward dynamics (ddq)

§jacobian: Jacobian

The Jacobian matrix of the joint placements (J)

§world_inertias: Vec<Inertia>

The rigid body inertia of the joints in the world frame (oinertias)

§composite_inertias: Vec<Inertia>

The composite rigid body inertia of the joints in the world frame (oYcrb)

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 UnsafeUnpin for Data

impl UnwindSafe for Data

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> 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.

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

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Performs the conversion.

impl<V, T> VZip<V> for T
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