Struct RobotContext 

pub struct RobotContext<T> {
    pub model: RobotModel<T>,
    pub chain: ChainSpec<T>,
    pub dynamics_config: DynamicsConfig<T>,
}

Shared context binding model, serial chain, and dynamics configuration.

Fields

model: RobotModel<T>

chain: ChainSpec<T>

dynamics_config: DynamicsConfig<T>

Implementations

impl<T: NabledReal + Default> RobotContext<T>

pub fn new( model: RobotModel<T>, chain: ChainSpec<T>, dynamics_config: DynamicsConfig<T>, ) -> Self

Build context without validation; call Self::validate before use.

pub fn validate(&self) -> Result<(), SimError>

Ensure model DOF matches serial chain joint count.

pub fn extract_chain_for_dynamics( &self, base_link: &str, ee_link: &str, ) -> Result<DynamicsBranchSpec<T>, SimError>

Extract a serial branch for branch dynamics (compose-down to nabled-model).

Trait Implementations

impl<T: Clone> Clone for RobotContext<T>

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

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl<T: Debug> Debug for RobotContext<T>

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

Formats the value using the given formatter.

impl<T: PartialEq> PartialEq for RobotContext<T>

fn eq(&self, other: &RobotContext<T>) -> bool

Tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl<T> StructuralPartialEq for RobotContext<T>