Enum Joint 

pub enum Joint {
    Hinge {
        index: usize,
        name: String,
        control: Rc<RefCell<MjData<Rc<MjModel>>>>,
    },
    Slide {
        index: usize,
        name: String,
        control: Rc<RefCell<MjData<Rc<MjModel>>>>,
    },
    Ball {
        index: usize,
        name: String,
        control: Rc<RefCell<MjData<Rc<MjModel>>>>,
    },
    Free {
        index: usize,
        name: String,
        control: Rc<RefCell<MjData<Rc<MjModel>>>>,
    },
}

Variants

Hinge

Fields

index: usize

name: String

control: Rc<RefCell<MjData<Rc<MjModel>>>>

Slide

Fields

index: usize

name: String

control: Rc<RefCell<MjData<Rc<MjModel>>>>

Ball

Fields

index: usize

name: String

control: Rc<RefCell<MjData<Rc<MjModel>>>>

Free

Fields

index: usize

name: String

control: Rc<RefCell<MjData<Rc<MjModel>>>>

Implementations

impl Joint

pub fn get_qpos(&self) -> JointOutput

Gets the reletive poition of a joint.

Examples found in repository

examples/actuator.rs (line 47)

fn main() {
    let model = evomujoco::MjModel::from_xml_string(EXAMPLE).unwrap();
    let mut mujoco = evomujoco::Mujoco::new(model);

    let act = mujoco.get_actuator("j_ctrl".to_string());
    let joint = mujoco.get_joint_from_name("joint".to_string());

    let start = SystemTime::now();

    loop {
        act.set_ctrl(f64::sin(
            SystemTime::now()
                .duration_since(start)
                .unwrap()
                .as_secs_f64(),
        ));
        println!("{:?}", joint.get_qpos());
        mujoco.update();
    }
}

pub fn get_qvel(&self) -> JointOutput

Gets the reletive velocity of a joint

Trait Implementations

impl Debug for Joint

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

Formats the value using the given formatter.