Struct k::Joint

source · [−]

pub struct Joint<T: RealField> {
    pub name: String,
    pub joint_type: JointType<T>,
    pub limits: Option<Range<T>>,
    /* private fields */
}

Expand description

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>,

pub fn new(name: &str, joint_type: JointType<T>) -> Joint<T>

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>

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)

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)

pub fn joint_position(&self) -> Option<T>

Returns the position (angle)

pub fn origin(&self) -> &Isometry3<T>

pub fn set_origin(&mut self, origin: Isometry3<T>)

pub fn set_joint_velocity(&mut self, velocity: T) -> Result<(), Error>

pub fn joint_velocity(&self) -> Option<T>

Returns the velocity

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);

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

pub fn clear_caches(&self)

Clear caches defined in the world coordinate

Trait Implementations

impl<T: Clone + RealField> Clone for Joint<T>

fn clone(&self) -> Joint<T>

Returns a copy of the value. Read more

1.0.0 · source

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

Performs copy-assignment from source. Read more

impl<T: Debug + RealField> Debug for Joint<T>

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

Formats the value using the given formatter. Read more

impl<T: RealField> Display for Joint<T>

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

Formats the value using the given formatter. Read more

impl<'a, T> From<&'a Joint> for Joint<T> where
T: RealField + SubsetOf<f64>,

fn from(joint: &Joint) -> Joint<T>

Converts to this type from the input type.

impl<T> From<Joint<T>> for Node<T> where
T: RealField + SubsetOf<f64>,

fn from(joint: Joint<T>) -> Self

Converts to this type from the input type.

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,

impl<T> UnwindSafe for Joint<T> where
T: UnwindSafe,

Blanket Implementations

impl<T> Any for T where
T: 'static + ?Sized,

fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more

impl<T> Borrow<T> for T where
T: ?Sized,

const: unstable · source

fn borrow(&self) -> &T

Immutably borrows from an owned value. Read more

impl<T> BorrowMut<T> for T where
T: ?Sized,

const: unstable · source

fn borrow_mut(&mut self) -> &mut T

Mutably borrows from an owned value. Read more

impl<T> From<T> for T

const: unstable · source

fn from(t: T) -> T

Returns the argument unchanged.

impl<T> Instrument for T

fn instrument(self, span: Span) -> Instrumented<Self>

Instruments this type with the provided Span, returning an Instrumented wrapper. Read more

fn in_current_span(self) -> Instrumented<Self>

Instruments this type with the current Span, returning an Instrumented wrapper. Read more

impl<T, U> Into<U> for T where
U: From<T>,

const: unstable · source

fn into(self) -> U

Calls U::from(self).

That is, this conversion is whatever the implementation of From<T> for U chooses to do.

impl<T> Same<T> for T

type Output = T

Should always be Self

impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,

fn to_subset(&self) -> Option<SS>

The inverse inclusion map: attempts to construct self from the equivalent element of its superset. Read more

fn is_in_subset(&self) -> bool

Checks if self is actually part of its subset T (and can be converted to it).

fn to_subset_unchecked(&self) -> SS

Use with care! Same as self.to_subset but without any property checks. Always succeeds.

fn from_subset(element: &SS) -> SP

The inclusion map: converts self to the equivalent element of its superset.

impl<T> ToOwned for T where
T: Clone,

type Owned = T

The resulting type after obtaining ownership.

fn to_owned(&self) -> T

Creates owned data from borrowed data, usually by cloning. Read more

fn clone_into(&self, target: &mut T)

🔬 This is a nightly-only experimental API. (toowned_clone_into)

Uses borrowed data to replace owned data, usually by cloning. Read more

impl<T> ToString for T where
T: Display + ?Sized,

default fn to_string(&self) -> String

Converts the given value to a String. Read more

impl<T, U> TryFrom<U> for T where
U: Into<T>,

type Error = Infallible

The type returned in the event of a conversion error.

const: unstable · source

fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>

Performs the conversion.

impl<T, U> TryInto<U> for T where
U: TryFrom<T>,

type Error = <U as TryFrom<T>>::Error

The type returned in the event of a conversion error.

const: unstable · source

fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>

Performs the conversion.

impl<T> WithSubscriber for T

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

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Attaches the current default Subscriber to this type, returning a WithDispatch wrapper. Read more