Struct k::node::JointRefGuard
source · [−]pub struct JointRefGuard<'a, T> where
T: RealField, { /* private fields */ }
Methods from Deref<Target = Joint<T>>
sourcepub fn joint_position(&self) -> Option<T>
pub fn joint_position(&self) -> Option<T>
Returns the position (angle)
pub fn origin(&self) -> &Isometry3<T>
sourcepub fn joint_velocity(&self) -> Option<T>
pub fn joint_velocity(&self) -> Option<T>
Returns the velocity
sourcepub fn local_transform(&self) -> Isometry3<T>
pub fn local_transform(&self) -> Isometry3<T>
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);
sourcepub fn world_transform(&self) -> Option<Isometry3<T>>
pub fn world_transform(&self) -> Option<Isometry3<T>>
Get the result of forward kinematics
The value is updated by Chain::update_transforms
pub fn world_velocity(&self) -> Option<Velocity<T>>
pub fn is_movable(&self) -> bool
sourcepub fn clear_caches(&self)
pub fn clear_caches(&self)
Clear caches defined in the world coordinate
Trait Implementations
sourceimpl<'a, T: Debug> Debug for JointRefGuard<'a, T> where
T: RealField,
impl<'a, T: Debug> Debug for JointRefGuard<'a, T> where
T: RealField,
Auto Trait Implementations
impl<'a, T> !RefUnwindSafe for JointRefGuard<'a, T>
impl<'a, T> !Send for JointRefGuard<'a, T>
impl<'a, T> !Sync for JointRefGuard<'a, T>
impl<'a, T> Unpin for JointRefGuard<'a, T>
impl<'a, T> !UnwindSafe for JointRefGuard<'a, T>
Blanket Implementations
sourceimpl<T> BorrowMut<T> for T where
T: ?Sized,
impl<T> BorrowMut<T> for T where
T: ?Sized,
const: unstable · sourcepub fn borrow_mut(&mut self) -> &mut T
pub fn borrow_mut(&mut self) -> &mut T
Mutably borrows from an owned value. Read more
sourceimpl<T> Instrument for T
impl<T> Instrument for T
sourcefn instrument(self, span: Span) -> Instrumented<Self>
fn instrument(self, span: Span) -> Instrumented<Self>
sourcefn in_current_span(self) -> Instrumented<Self>
fn in_current_span(self) -> Instrumented<Self>
sourceimpl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
sourcepub fn to_subset(&self) -> Option<SS>
pub fn to_subset(&self) -> Option<SS>
The inverse inclusion map: attempts to construct self
from the equivalent element of its
superset. Read more
sourcepub fn is_in_subset(&self) -> bool
pub fn is_in_subset(&self) -> bool
Checks if self
is actually part of its subset T
(and can be converted to it).
sourcepub fn to_subset_unchecked(&self) -> SS
pub fn to_subset_unchecked(&self) -> SS
Use with care! Same as self.to_subset
but without any property checks. Always succeeds.
sourcepub fn from_subset(element: &SS) -> SP
pub fn from_subset(element: &SS) -> SP
The inclusion map: converts self
to the equivalent element of its superset.
sourceimpl<T> WithSubscriber for T
impl<T> WithSubscriber for T
sourcefn with_subscriber<S>(self, subscriber: S) -> WithDispatch<Self> where
S: Into<Dispatch>,
fn with_subscriber<S>(self, subscriber: S) -> WithDispatch<Self> where
S: Into<Dispatch>,
Attaches the provided Subscriber
to this type, returning a
WithDispatch
wrapper. Read more
sourcefn with_current_subscriber(self) -> WithDispatch<Self>
fn with_current_subscriber(self) -> WithDispatch<Self>
Attaches the current default Subscriber
to this type, returning a
WithDispatch
wrapper. Read more