Struct Configuration

Source

pub struct Configuration(/* private fields */);

Expand description

Configuration of a multi-body system, represented as a vector of joint positions.

Implementations§

Source §

impl Configuration

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pub fn zeros(size: usize) -> Configuration

Creates a new Configuration with the given size, initialized to zeros.

§Arguments

size - The size of the configuration vector.

§Returns

A new Configuration object with all values set to zero.

Source

pub fn ones(size: usize) -> Configuration

Creates a new Configuration with the given size, initialized to ones.

§Arguments

size - The size of the configuration vector.

§Returns

A new Configuration object with all values set to one.

Source

pub fn from_element(size: usize, value: f64) -> Configuration

Creates a new Configuration with the given size, initialized to the specified value.

§Arguments

size - The size of the configuration vector.
value - The value to initialize each element of the configuration vector.

§Returns

A new Configuration object with all values set to the specified value.

Examples found in repository ?

examples/inverse_dynamics.rs (line 13)

3fn main() {
4    let urdf_path = "./examples/descriptions/ur5/ur5_robot.urdf"; // Path to the URDF file
5    let mesh_path = "./examples/descriptions/ur5/"; // Optional mesh path
6
7    // Build models from the URDF file
8    let (model, _coll_model, _viz_model) =
9        build_models_from_urdf(urdf_path, Some(mesh_path)).expect("Failed to parse URDF file");
10
11    // Generate a random configuration, velocity and acceleration
12    let q = random_configuration(&model);
13    let v = Configuration::from_element(model.nv, 1.0);
14    let a = Configuration::from_element(model.nv, 1.0);
15
16    // Create data structure for the model
17    let mut data = model.create_data();
18
19    // Compute inverse dynamics
20    inverse_dynamics(&model, &mut data, &q, &v, &a, None)
21        .expect("Failed to compute inverse dynamics");
22
23    // Print the computed torques
24    println!("Computed torques: {}", data.tau);
25}

More examples

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examples/forward_dynamics.rs (line 13)

3fn main() {
4    let urdf_path = "./examples/descriptions/ur5/ur5_robot.urdf"; // Path to the URDF file
5    let mesh_path = "./examples/descriptions/ur5/"; // Optional mesh path
6
7    // Build models from the URDF file
8    let (model, _coll_model, _viz_model) =
9        build_models_from_urdf(urdf_path, Some(mesh_path)).expect("Failed to parse URDF file");
10
11    // Generate a random configuration, velocity and acceleration
12    let q = random_configuration(&model);
13    let v = Configuration::from_element(model.nv, 1.0);
14    let tau = Configuration::from_element(model.nv, 1.0);
15
16    // Create data structure for the model
17    let mut data = model.create_data();
18
19    // Compute forward dynamics
20    let ddq = forward_dynamics(&model, &mut data, &q, &v, &tau, None, ABAConvention::Local)
21        .expect("Failed to compute forward dynamics");
22
23    // Print the computed torques
24    println!("Joint accelerations: {}", ddq);
25}