Struct JointState 

pub struct JointState {
    pub T_left: f64,
    pub M_left: f64,
    pub y_left: f64,
    pub theta_left: f64,
    pub T_right: f64,
    pub M_right: f64,
    pub y_right: f64,
    pub theta_right: f64,
}

Joint state vector — the R⁴ × 2 compatibility vector (T, M, y, θ) at left side and right side of one joint

Fields

T_left: f64

M_left: f64

y_left: f64

theta_left: f64

T_right: f64

M_right: f64

y_right: f64

theta_right: f64

Implementations

impl JointState

pub fn residual(&self) -> [f64; 4]

Compute the residual (difference between left and right states)

pub fn residual_norm(&self) -> f64

Norm of the residual vector

pub fn consensus_reached(&self, tolerance: f64) -> bool

True if residual norm is below tolerance (consensus reached)

pub fn from_array(a: &[f64; 8]) -> Self

Create from a flat array [T_left, M_left, y_left, theta_left, T_right, …]

pub fn to_array(&self) -> [f64; 8]

Flatten to array

Trait Implementations

impl Clone for JointState

fn clone(&self) -> JointState

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for JointState

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

Formats the value using the given formatter.

impl Default for JointState

fn default() -> JointState

Returns the “default value” for a type.

impl<'de> Deserialize<'de> for JointState

fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl Serialize for JointState

fn serialize<__S>(&self, __serializer: __S) -> Result<__S::Ok, __S::Error>

where __S: Serializer,

Serialize this value into the given Serde serializer.