[−][src]Trait nphysics3d::joint::Joint

pub trait Joint<N: RealField>: Downcast + Send + Sync {
    pub fn ndofs(&self) -> usize;

    pub fn body_to_parent(
        &self, 
        parent_shift: &Vector<N>, 
        body_shift: &Vector<N>
    ) -> Isometry<N>;

    pub fn update_jacobians(&mut self, body_shift: &Vector<N>, vels: &[N]);

    pub fn integrate(
        &mut self, 
        parameters: &IntegrationParameters<N>, 
        vels: &[N]
    );

    pub fn apply_displacement(&mut self, disp: &[N]);

    pub fn jacobian(
        &self, 
        transform: &Isometry<N>, 
        out: &mut JacobianSliceMut<'_, N>
    );

    pub fn jacobian_dot(
        &self, 
        transform: &Isometry<N>, 
        out: &mut JacobianSliceMut<'_, N>
    );

    pub fn jacobian_dot_veldiff_mul_coordinates(
        &self, 
        transform: &Isometry<N>, 
        vels: &[N], 
        out: &mut JacobianSliceMut<'_, N>
    );

    pub fn jacobian_mul_coordinates(&self, vels: &[N]) -> Velocity<N>;

    pub fn jacobian_dot_mul_coordinates(&self, vels: &[N]) -> Velocity<N>;

    pub fn default_damping(&self, out: &mut DVectorSliceMut<'_, N>);

    pub fn clone(&self) -> Box<dyn Joint<N>>;

    pub fn nimpulses(&self) -> usize { ... }

    pub fn num_velocity_constraints(&self) -> usize { ... }

    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>
    ) { ... }

    pub fn num_position_constraints(&self) -> usize { ... }

    pub fn position_constraint(
        &self, 
        _i: usize, 
        _multibody: &Multibody<N>, 
        _link: &MultibodyLink<N>, 
        _handle: BodyPartHandle<()>, 
        _dof_id: usize, 
        _jacobians: &mut [N]
    ) -> Option<GenericNonlinearConstraint<N, ()>> { ... }
}

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]

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])[src]

Update the jacobians of this joint.

pub fn integrate(&mut self, parameters: &IntegrationParameters<N>, vels: &[N])[src]

Integrate the position of this joint.

pub fn apply_displacement(&mut self, disp: &[N])[src]

Apply a displacement to the joint.

pub fn jacobian(
    &self,
    transform: &Isometry<N>,
    out: &mut JacobianSliceMut<'_, N>
)[src]

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]

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]

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>[src]

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>[src]

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>)[src]

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>>[src]

Loading content...

Provided methods

pub fn nimpulses(&self) -> usize[src]

The maximum number of impulses needed by this joints for its constraints.

pub fn num_velocity_constraints(&self) -> usize[src]

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]

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]

Initialize and generate the i-th position constraints to enforce, e.g., joint limits.

Loading content...

Implementations

impl<N> dyn Joint<N> where
    N: Any + 'static,
    N: RealField, [src]

pub fn is<__T: Joint<N>>(&self) -> bool[src]

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 BallJoint<N>[src]

impl<N: RealField> Joint<N> for CartesianJoint<N>[src]

impl<N: RealField> Joint<N> for CylindricalJoint<N>[src]

impl<N: RealField> Joint<N> for FixedJoint<N>[src]

impl<N: RealField> Joint<N> for FreeJoint<N>[src]

impl<N: RealField> Joint<N> for HelicalJoint<N>[src]

impl<N: RealField> Joint<N> for PinSlotJoint<N>[src]

impl<N: RealField> Joint<N> for PlanarJoint<N>[src]

impl<N: RealField> Joint<N> for PrismaticJoint<N>[src]

impl<N: RealField> Joint<N> for RectangularJoint<N>[src]

impl<N: RealField> Joint<N> for RevoluteJoint<N>[src]

impl<N: RealField> Joint<N> for UniversalJoint<N>[src]

Loading content...