Struct Jacobian 

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

Jacobian matrix, relating joint velocities to end-effector velocities.

The Jacobian is a matrix of size $6 \times n_v$ where $n_v$ is the number of joints in the robot model. Each column corresponds to the basis of the spatial velocity of the joint in the origin of the inertial frame.

Implementations

impl Jacobian

pub fn zero(cols: usize) -> Self

Creates a zero Jacobian matrix with the given number of columns.

Arguments

Returns

• A zero Jacobian matrix of size $6 \times cols$.

pub fn update_column(&mut self, v_offset: usize, column_data: &[f64; 6])

Updates the specified column of the Jacobian matrix with the given data.

Arguments

• v_offset - The index of the column to update, which corresponds to the joint index in the robot model.
• column_data - The data to update the column with, which should be a 6-dimensional vector representing the spatial velocity basis of the joint.

pub fn column(&self, v_offset: usize) -> JacobianColumn

Returns a specified column of the Jacobian matrix as a JacobianColumn structure.

Arguments

• v_offset - The index of the column to retrieve, which corresponds to the joint index in the robot model.

Returns

• A JacobianColumn structure containing the specified column of the Jacobian matrix, which represents the spatial velocity basis of the joint.

Trait Implementations

impl Clone for Jacobian

fn clone(&self) -> Jacobian

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for Jacobian

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

Formats the value using the given formatter.

impl PartialEq for Jacobian

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

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

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 Jacobian