[−][src]Trait nphysics2d::joint::Joint
Trait implemented by all joints following the reduced-coordinate formation.
Required methods
pub fn ndofs(&self) -> usize
[src]
The number of degrees of freedom allowed by the joint.
pub fn body_to_parent(
&self,
parent_shift: &Vector<N>,
body_shift: &Vector<N>
) -> Isometry<N>
[src]
&self,
parent_shift: &Vector<N>,
body_shift: &Vector<N>
) -> Isometry<N>
The position of the multibody link containing this joint relative to its parent.
pub fn update_jacobians(&mut self, body_shift: &Vector<N>, vels: &[N])
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Update the jacobians of this joint.
pub fn integrate(&mut self, parameters: &IntegrationParameters<N>, vels: &[N])
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Integrate the position of this joint.
pub fn apply_displacement(&mut self, disp: &[N])
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Apply a displacement to the joint.
pub fn jacobian(
&self,
transform: &Isometry<N>,
out: &mut JacobianSliceMut<'_, N>
)
[src]
&self,
transform: &Isometry<N>,
out: &mut JacobianSliceMut<'_, N>
)
Sets in out
the non-zero entries of the joint jacobian transformed by transform
.
pub fn jacobian_dot(
&self,
transform: &Isometry<N>,
out: &mut JacobianSliceMut<'_, N>
)
[src]
&self,
transform: &Isometry<N>,
out: &mut JacobianSliceMut<'_, N>
)
Sets in out
the non-zero entries of the time-derivative of the joint jacobian transformed by transform
.
pub fn jacobian_dot_veldiff_mul_coordinates(
&self,
transform: &Isometry<N>,
vels: &[N],
out: &mut JacobianSliceMut<'_, N>
)
[src]
&self,
transform: &Isometry<N>,
vels: &[N],
out: &mut JacobianSliceMut<'_, N>
)
Sets in out
the non-zero entries of the velocity-derivative of the time-derivative of the joint jacobian transformed by transform
.
pub fn jacobian_mul_coordinates(&self, vels: &[N]) -> Velocity<N>
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Multiply the joint jacobian by generalized velocities to obtain the relative velocity of the multibody link containing this joint.
pub fn jacobian_dot_mul_coordinates(&self, vels: &[N]) -> Velocity<N>
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Multiply the joint jacobian by generalized accelerations to obtain the relative acceleration of the multibody link containing this joint.
pub fn default_damping(&self, out: &mut DVectorSliceMut<'_, N>)
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Fill out
with the non-zero entries of a damping that can be applied by default to ensure a good stability of the joint.
pub fn clone(&self) -> Box<dyn Joint<N>>
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Provided methods
pub fn nimpulses(&self) -> usize
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The maximum number of impulses needed by this joints for its constraints.
pub fn num_velocity_constraints(&self) -> usize
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Maximum number of velocity constrains that can be generated by this joint.
pub fn velocity_constraints(
&self,
_params: &IntegrationParameters<N>,
_multibody: &Multibody<N>,
_link: &MultibodyLink<N>,
_assembly_id: usize,
_dof_id: usize,
_ext_vels: &[N],
_ground_j_id: &mut usize,
_jacobians: &mut [N],
_velocity_constraints: &mut ConstraintSet<N, (), (), usize>
)
[src]
&self,
_params: &IntegrationParameters<N>,
_multibody: &Multibody<N>,
_link: &MultibodyLink<N>,
_assembly_id: usize,
_dof_id: usize,
_ext_vels: &[N],
_ground_j_id: &mut usize,
_jacobians: &mut [N],
_velocity_constraints: &mut ConstraintSet<N, (), (), usize>
)
Initialize and generate velocity constraints to enforce, e.g., joint limits and motors.
pub fn num_position_constraints(&self) -> usize
[src]
The maximum number of non-linear position constraints that can be generated by this joint.
pub fn position_constraint(
&self,
_i: usize,
_multibody: &Multibody<N>,
_link: &MultibodyLink<N>,
_handle: BodyPartHandle<()>,
_dof_id: usize,
_jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N, ()>>
[src]
&self,
_i: usize,
_multibody: &Multibody<N>,
_link: &MultibodyLink<N>,
_handle: BodyPartHandle<()>,
_dof_id: usize,
_jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N, ()>>
Initialize and generate the i-th position constraints to enforce, e.g., joint limits.
Implementations
impl<N> dyn Joint<N> where
N: Any + 'static,
N: RealField,
[src]
N: Any + 'static,
N: RealField,
pub fn is<__T: Joint<N>>(&self) -> bool
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Returns true if the trait object wraps an object of type __T
.
pub fn downcast<__T: Joint<N>>(self: Box<Self>) -> Result<Box<__T>, Box<Self>>
[src]
Returns a boxed object from a boxed trait object if the underlying object is of type
__T
. Returns the original boxed trait if it isn't.
pub fn downcast_rc<__T: Joint<N>>(self: Rc<Self>) -> Result<Rc<__T>, Rc<Self>>
[src]
Returns an Rc
-ed object from an Rc
-ed trait object if the underlying object is of
type __T
. Returns the original Rc
-ed trait if it isn't.
pub fn downcast_ref<__T: Joint<N>>(&self) -> Option<&__T>
[src]
Returns a reference to the object within the trait object if it is of type __T
, or
None
if it isn't.
pub fn downcast_mut<__T: Joint<N>>(&mut self) -> Option<&mut __T>
[src]
Returns a mutable reference to the object within the trait object if it is of type
__T
, or None
if it isn't.
Implementors
impl<N: RealField> Joint<N> for CartesianJoint<N>
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pub fn ndofs(&self) -> usize
[src]
pub fn body_to_parent(
&self,
parent_shift: &Vector<N>,
body_shift: &Vector<N>
) -> Isometry<N>
[src]
&self,
parent_shift: &Vector<N>,
body_shift: &Vector<N>
) -> Isometry<N>
pub fn update_jacobians(&mut self, _: &Vector<N>, _: &[N])
[src]
pub fn jacobian(&self, _: &Isometry<N>, out: &mut JacobianSliceMut<'_, N>)
[src]
pub fn jacobian_dot(&self, _: &Isometry<N>, _: &mut JacobianSliceMut<'_, N>)
[src]
pub fn jacobian_dot_veldiff_mul_coordinates(
&self,
_: &Isometry<N>,
_: &[N],
_: &mut JacobianSliceMut<'_, N>
)
[src]
&self,
_: &Isometry<N>,
_: &[N],
_: &mut JacobianSliceMut<'_, N>
)
pub fn jacobian_mul_coordinates(&self, vels: &[N]) -> Velocity<N>
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pub fn jacobian_dot_mul_coordinates(&self, _: &[N]) -> Velocity<N>
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pub fn default_damping(&self, _: &mut DVectorSliceMut<'_, N>)
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pub fn integrate(&mut self, parameters: &IntegrationParameters<N>, vels: &[N])
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pub fn apply_displacement(&mut self, disp: &[N])
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pub fn clone(&self) -> Box<dyn Joint<N>>
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impl<N: RealField> Joint<N> for FixedJoint<N>
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pub fn ndofs(&self) -> usize
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pub fn body_to_parent(
&self,
parent_shift: &Vector<N>,
body_shift: &Vector<N>
) -> Isometry<N>
[src]
&self,
parent_shift: &Vector<N>,
body_shift: &Vector<N>
) -> Isometry<N>
pub fn update_jacobians(&mut self, _: &Vector<N>, _: &[N])
[src]
pub fn jacobian(&self, _: &Isometry<N>, _: &mut JacobianSliceMut<'_, N>)
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pub fn jacobian_dot(&self, _: &Isometry<N>, _: &mut JacobianSliceMut<'_, N>)
[src]
pub fn jacobian_dot_veldiff_mul_coordinates(
&self,
_: &Isometry<N>,
_: &[N],
_: &mut JacobianSliceMut<'_, N>
)
[src]
&self,
_: &Isometry<N>,
_: &[N],
_: &mut JacobianSliceMut<'_, N>
)
pub fn integrate(&mut self, _: &IntegrationParameters<N>, _: &[N])
[src]
pub fn apply_displacement(&mut self, _: &[N])
[src]
pub fn jacobian_mul_coordinates(&self, _: &[N]) -> Velocity<N>
[src]
pub fn jacobian_dot_mul_coordinates(&self, _: &[N]) -> Velocity<N>
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pub fn default_damping(&self, _: &mut DVectorSliceMut<'_, N>)
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pub fn clone(&self) -> Box<dyn Joint<N>>
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impl<N: RealField> Joint<N> for FreeJoint<N>
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pub fn ndofs(&self) -> usize
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pub fn body_to_parent(&self, _: &Vector<N>, _: &Vector<N>) -> Isometry<N>
[src]
pub fn update_jacobians(&mut self, _: &Vector<N>, _: &[N])
[src]
pub fn jacobian(&self, _: &Isometry<N>, out: &mut JacobianSliceMut<'_, N>)
[src]
pub fn jacobian_dot(&self, _: &Isometry<N>, _: &mut JacobianSliceMut<'_, N>)
[src]
pub fn jacobian_dot_veldiff_mul_coordinates(
&self,
_: &Isometry<N>,
_: &[N],
_: &mut JacobianSliceMut<'_, N>
)
[src]
&self,
_: &Isometry<N>,
_: &[N],
_: &mut JacobianSliceMut<'_, N>
)
pub fn integrate(&mut self, parameters: &IntegrationParameters<N>, vels: &[N])
[src]
pub fn apply_displacement(&mut self, disp: &[N])
[src]
pub fn jacobian_mul_coordinates(&self, vels: &[N]) -> Velocity<N>
[src]
pub fn jacobian_dot_mul_coordinates(&self, _: &[N]) -> Velocity<N>
[src]
pub fn default_damping(&self, _: &mut DVectorSliceMut<'_, N>)
[src]
pub fn clone(&self) -> Box<dyn Joint<N>>
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impl<N: RealField> Joint<N> for PrismaticJoint<N>
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pub fn ndofs(&self) -> usize
[src]
pub fn body_to_parent(
&self,
parent_shift: &Vector<N>,
body_shift: &Vector<N>
) -> Isometry<N>
[src]
&self,
parent_shift: &Vector<N>,
body_shift: &Vector<N>
) -> Isometry<N>
pub fn update_jacobians(&mut self, _: &Vector<N>, _: &[N])
[src]
pub fn jacobian(
&self,
transform: &Isometry<N>,
out: &mut JacobianSliceMut<'_, N>
)
[src]
&self,
transform: &Isometry<N>,
out: &mut JacobianSliceMut<'_, N>
)
pub fn jacobian_dot(&self, _: &Isometry<N>, _: &mut JacobianSliceMut<'_, N>)
[src]
pub fn jacobian_dot_veldiff_mul_coordinates(
&self,
_: &Isometry<N>,
_: &[N],
_: &mut JacobianSliceMut<'_, N>
)
[src]
&self,
_: &Isometry<N>,
_: &[N],
_: &mut JacobianSliceMut<'_, N>
)
pub fn default_damping(&self, _: &mut DVectorSliceMut<'_, N>)
[src]
pub fn integrate(&mut self, parameters: &IntegrationParameters<N>, vels: &[N])
[src]
pub fn apply_displacement(&mut self, disp: &[N])
[src]
pub fn jacobian_mul_coordinates(&self, acc: &[N]) -> Velocity<N>
[src]
pub fn jacobian_dot_mul_coordinates(&self, _: &[N]) -> Velocity<N>
[src]
pub fn clone(&self) -> Box<dyn Joint<N>>
[src]
pub fn num_velocity_constraints(&self) -> usize
[src]
pub fn velocity_constraints(
&self,
parameters: &IntegrationParameters<N>,
multibody: &Multibody<N>,
link: &MultibodyLink<N>,
assembly_id: usize,
dof_id: usize,
ext_vels: &[N],
ground_j_id: &mut usize,
jacobians: &mut [N],
constraints: &mut ConstraintSet<N, (), (), usize>
)
[src]
&self,
parameters: &IntegrationParameters<N>,
multibody: &Multibody<N>,
link: &MultibodyLink<N>,
assembly_id: usize,
dof_id: usize,
ext_vels: &[N],
ground_j_id: &mut usize,
jacobians: &mut [N],
constraints: &mut ConstraintSet<N, (), (), usize>
)
pub fn num_position_constraints(&self) -> usize
[src]
pub fn position_constraint(
&self,
_: usize,
multibody: &Multibody<N>,
link: &MultibodyLink<N>,
handle: BodyPartHandle<()>,
dof_id: usize,
jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N, ()>>
[src]
&self,
_: usize,
multibody: &Multibody<N>,
link: &MultibodyLink<N>,
handle: BodyPartHandle<()>,
dof_id: usize,
jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N, ()>>
impl<N: RealField> Joint<N> for RevoluteJoint<N>
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pub fn ndofs(&self) -> usize
[src]
pub fn body_to_parent(
&self,
parent_shift: &Vector<N>,
body_shift: &Vector<N>
) -> Isometry<N>
[src]
&self,
parent_shift: &Vector<N>,
body_shift: &Vector<N>
) -> Isometry<N>
pub fn update_jacobians(&mut self, body_shift: &Vector<N>, vels: &[N])
[src]
pub fn jacobian(
&self,
transform: &Isometry<N>,
out: &mut JacobianSliceMut<'_, N>
)
[src]
&self,
transform: &Isometry<N>,
out: &mut JacobianSliceMut<'_, N>
)
pub fn jacobian_dot(
&self,
transform: &Isometry<N>,
out: &mut JacobianSliceMut<'_, N>
)
[src]
&self,
transform: &Isometry<N>,
out: &mut JacobianSliceMut<'_, N>
)
pub fn jacobian_dot_veldiff_mul_coordinates(
&self,
transform: &Isometry<N>,
acc: &[N],
out: &mut JacobianSliceMut<'_, N>
)
[src]
&self,
transform: &Isometry<N>,
acc: &[N],
out: &mut JacobianSliceMut<'_, N>
)
pub fn integrate(&mut self, parameters: &IntegrationParameters<N>, vels: &[N])
[src]
pub fn default_damping(&self, out: &mut DVectorSliceMut<'_, N>)
[src]
pub fn apply_displacement(&mut self, disp: &[N])
[src]
pub fn jacobian_mul_coordinates(&self, acc: &[N]) -> Velocity<N>
[src]
pub fn jacobian_dot_mul_coordinates(&self, acc: &[N]) -> Velocity<N>
[src]
pub fn clone(&self) -> Box<dyn Joint<N>>
[src]
pub fn num_velocity_constraints(&self) -> usize
[src]
pub fn velocity_constraints(
&self,
parameters: &IntegrationParameters<N>,
multibody: &Multibody<N>,
link: &MultibodyLink<N>,
assembly_id: usize,
dof_id: usize,
ext_vels: &[N],
ground_j_id: &mut usize,
jacobians: &mut [N],
constraints: &mut ConstraintSet<N, (), (), usize>
)
[src]
&self,
parameters: &IntegrationParameters<N>,
multibody: &Multibody<N>,
link: &MultibodyLink<N>,
assembly_id: usize,
dof_id: usize,
ext_vels: &[N],
ground_j_id: &mut usize,
jacobians: &mut [N],
constraints: &mut ConstraintSet<N, (), (), usize>
)
pub fn num_position_constraints(&self) -> usize
[src]
pub fn position_constraint(
&self,
_: usize,
multibody: &Multibody<N>,
link: &MultibodyLink<N>,
handle: BodyPartHandle<()>,
dof_id: usize,
jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N, ()>>
[src]
&self,
_: usize,
multibody: &Multibody<N>,
link: &MultibodyLink<N>,
handle: BodyPartHandle<()>,
dof_id: usize,
jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N, ()>>