Struct k::Joint [−][src]
Joint with type
Fields
name: String
Name of this joint
joint_type: JointType<T>
Type of this joint
limits: Option<Range<T>>
Limits of this joint
Implementations
impl<T> Joint<T> where
T: RealField + SubsetOf<f64>,
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T: RealField + SubsetOf<f64>,
pub fn new(name: &str, joint_type: JointType<T>) -> Joint<T>
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Create new Joint with name and type
Examples
use nalgebra as na; // create fixed joint let fixed = k::Joint::<f32>::new("f0", k::JointType::Fixed); assert!(fixed.joint_position().is_none()); // create rotational joint with Y-axis let rot = k::Joint::<f64>::new("r0", k::JointType::Rotational { axis: na::Vector3::y_axis() }); assert_eq!(rot.joint_position().unwrap(), 0.0);
pub fn set_joint_position(&mut self, position: T) -> Result<(), Error>
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Set the position of the joint
It returns Err if it is out of the limits, or this is fixed joint.
Examples
use nalgebra as na; // Create fixed joint let mut fixed = k::Joint::<f32>::new("f0", k::JointType::Fixed); // Set position to fixed joint always fails assert!(fixed.set_joint_position(1.0).is_err()); // Create rotational joint with Y-axis let mut rot = k::Joint::<f64>::new("r0", k::JointType::Rotational { axis: na::Vector3::y_axis() }); // As default, it has not limit // Initial position is 0.0 assert_eq!(rot.joint_position().unwrap(), 0.0); // If it has no limits, set_joint_position always succeeds. rot.set_joint_position(0.2).unwrap(); assert_eq!(rot.joint_position().unwrap(), 0.2);
pub fn set_joint_position_clamped(&mut self, position: T)
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Set the clamped position of the joint
It refers to the joint limit and clamps the argument. This function does nothing if this is fixed joint.
Examples
use nalgebra as na; // Create rotational joint with Y-axis let mut rot = k::Joint::<f64>::new("r0", k::JointType::Rotational { axis: na::Vector3::y_axis() }); let limits = k::joint::Range::new(-1.0, 1.0); rot.limits = Some(limits); // Initial position is 0.0 assert_eq!(rot.joint_position().unwrap(), 0.0); rot.set_joint_position_clamped(2.0); assert_eq!(rot.joint_position().unwrap(), 1.0); rot.set_joint_position_clamped(-2.0); assert_eq!(rot.joint_position().unwrap(), -1.0);
pub fn set_joint_position_unchecked(&mut self, position: T)
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pub fn joint_position(&self) -> Option<T>
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Returns the position (angle)
pub fn origin(&self) -> &Isometry3<T>
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pub fn set_origin(&mut self, origin: Isometry3<T>)
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pub fn set_joint_velocity(&mut self, velocity: T) -> Result<(), Error>
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pub fn joint_velocity(&self) -> Option<T>
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Returns the velocity
pub fn local_transform(&self) -> Isometry3<T>
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Calculate and returns the transform of the end of this joint
Examples
use nalgebra as na; // Create linear joint with X-axis let mut lin = k::Joint::<f64>::new("l0", k::JointType::Linear { axis: na::Vector3::x_axis() }); assert_eq!(lin.local_transform().translation.vector.x, 0.0); lin.set_joint_position(-1.0).unwrap(); assert_eq!(lin.local_transform().translation.vector.x, -1.0);
pub fn world_transform(&self) -> Option<Isometry3<T>>
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Get the result of forward kinematics
The value is updated by Chain::update_transforms
pub fn world_velocity(&self) -> Option<Velocity<T>>
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pub fn is_movable(&self) -> bool
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Trait Implementations
impl<T: Clone + RealField> Clone for Joint<T>
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impl<T: Debug + RealField> Debug for Joint<T>
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impl<T: RealField> Display for Joint<T>
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impl<'a, T> From<&'a Joint> for Joint<T> where
T: RealField + SubsetOf<f64>,
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T: RealField + SubsetOf<f64>,
impl<T> From<Joint<T>> for Node<T> where
T: RealField + SubsetOf<f64>,
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T: RealField + SubsetOf<f64>,
Auto Trait Implementations
impl<T> !RefUnwindSafe for Joint<T>
impl<T> Send for Joint<T>
impl<T> !Sync for Joint<T>
impl<T> Unpin for Joint<T> where
T: Unpin,
T: Unpin,
impl<T> UnwindSafe for Joint<T> where
T: UnwindSafe,
T: UnwindSafe,
Blanket Implementations
impl<T> Any for T where
T: 'static + ?Sized,
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T: 'static + ?Sized,
impl<T> Borrow<T> for T where
T: ?Sized,
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T: ?Sized,
impl<T> BorrowMut<T> for T where
T: ?Sized,
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T: ?Sized,
pub fn borrow_mut(&mut self) -> &mut T
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impl<T> From<T> for T
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impl<T, U> Into<U> for T where
U: From<T>,
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U: From<T>,
impl<T> Same<T> for T
type Output = T
Should always be Self
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
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SS: SubsetOf<SP>,
pub fn to_subset(&self) -> Option<SS>
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pub fn is_in_subset(&self) -> bool
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pub fn to_subset_unchecked(&self) -> SS
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pub fn from_subset(element: &SS) -> SP
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impl<T> ToOwned for T where
T: Clone,
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T: Clone,
type Owned = T
The resulting type after obtaining ownership.
pub fn to_owned(&self) -> T
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pub fn clone_into(&self, target: &mut T)
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impl<T> ToString for T where
T: Display + ?Sized,
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T: Display + ?Sized,
impl<T, U> TryFrom<U> for T where
U: Into<T>,
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U: Into<T>,
type Error = Infallible
The type returned in the event of a conversion error.
pub fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>
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impl<T, U> TryInto<U> for T where
U: TryFrom<T>,
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U: TryFrom<T>,