Struct nphysics3d::joint::PinSlotJoint [−][src]
pub struct PinSlotJoint<N: Real> { /* fields omitted */ }
A joint that allows one translational and one rotational degrees of freedom.
Both are not required to be along the same direction.
Methods
impl<N: Real> PinSlotJoint<N>
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impl<N: Real> PinSlotJoint<N>
pub fn new(
axis_v: Unit<Vector3<N>>,
axis_w: Unit<Vector3<N>>,
position: N,
angle: N
) -> Self
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pub fn new(
axis_v: Unit<Vector3<N>>,
axis_w: Unit<Vector3<N>>,
position: N,
angle: N
) -> Self
Create a new pin-slot joint with axii expressed in the local coordinate frame of the attached bodies, and with initial linear position and angle.
pub fn offset(&self) -> N
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pub fn offset(&self) -> N
The linear displacement.
pub fn angle(&self) -> N
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pub fn angle(&self) -> N
The angular displacement.
impl<N: Real> PinSlotJoint<N>
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impl<N: Real> PinSlotJoint<N>
pub fn min_offset(&self) -> Option<N>
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pub fn min_offset(&self) -> Option<N>
The lower limit of the relative translational displacement of the attached multibody links along the joint axis.
pub fn max_offset(&self) -> Option<N>
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pub fn max_offset(&self) -> Option<N>
The upper limit of the relative translational displacement of the attached multibody links along the joint axis.
pub fn disable_min_offset(&mut self)
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pub fn disable_min_offset(&mut self)
Disable the lower limit of the relative translational displacement of the attached multibody links along the joint axis.
pub fn disable_max_offset(&mut self)
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pub fn disable_max_offset(&mut self)
Disable the upper limit of the relative translational displacement of the attached multibody links along the joint axis.
pub fn enable_min_offset(&mut self, limit: N)
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pub fn enable_min_offset(&mut self, limit: N)
Set the lower limit of the relative translational displacement of the attached multibody links along the joint axis.
pub fn enable_max_offset(&mut self, limit: N)
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pub fn enable_max_offset(&mut self, limit: N)
Set the upper limit of the relative translational displacement of the attached multibody links along the joint axis.
pub fn is_linear_motor_enabled(&self) -> bool
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pub fn is_linear_motor_enabled(&self) -> bool
Returns true
if the joint translational motor is enabled.
pub fn enable_linear_motor(&mut self)
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pub fn enable_linear_motor(&mut self)
Enable the joint translational motor.
pub fn disable_linear_motor(&mut self)
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pub fn disable_linear_motor(&mut self)
Disable the joint translational motor.
pub fn desired_linear_motor_velocity(&self) -> N
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pub fn desired_linear_motor_velocity(&self) -> N
The desired relative translational velocity to be enforced by the joint motor.
pub fn set_desired_linear_motor_velocity(&mut self, vel: N)
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pub fn set_desired_linear_motor_velocity(&mut self, vel: N)
Set the desired relative translational velocity to be enforced by the joint motor.
pub fn max_linear_motor_force(&self) -> N
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pub fn max_linear_motor_force(&self) -> N
The maximum force that can be output by the joint translational motor.
pub fn set_max_linear_motor_force(&mut self, force: N)
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pub fn set_max_linear_motor_force(&mut self, force: N)
Set the maximum force that can be output by the joint translational motor.
impl<N: Real> PinSlotJoint<N>
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impl<N: Real> PinSlotJoint<N>
pub fn min_angle(&self) -> Option<N>
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pub fn min_angle(&self) -> Option<N>
The lower limit of the rotation angle.
pub fn max_angle(&self) -> Option<N>
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pub fn max_angle(&self) -> Option<N>
The upper limit of the rotation angle.
pub fn disable_min_angle(&mut self)
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pub fn disable_min_angle(&mut self)
Disable the lower limit of the rotation angle.
pub fn disable_max_angle(&mut self)
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pub fn disable_max_angle(&mut self)
Disable the upper limit of the rotation angle.
pub fn enable_min_angle(&mut self, limit: N)
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pub fn enable_min_angle(&mut self, limit: N)
Enable and set the lower limit of the rotation angle.
pub fn enable_max_angle(&mut self, limit: N)
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pub fn enable_max_angle(&mut self, limit: N)
Enable and set the upper limit of the rotation angle.
pub fn is_angular_motor_enabled(&self) -> bool
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pub fn is_angular_motor_enabled(&self) -> bool
Return true
if the angular motor of this joint is enabled.
pub fn enable_angular_motor(&mut self)
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pub fn enable_angular_motor(&mut self)
Enable the angular motor of this joint.
pub fn disable_angular_motor(&mut self)
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pub fn disable_angular_motor(&mut self)
Disable the angular motor of this joint.
pub fn desired_angular_motor_velocity(&self) -> N
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pub fn desired_angular_motor_velocity(&self) -> N
The desired angular velocity of the joint motor.
pub fn set_desired_angular_motor_velocity(&mut self, vel: N)
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pub fn set_desired_angular_motor_velocity(&mut self, vel: N)
Set the desired angular velocity of the joint motor.
pub fn max_angular_motor_torque(&self) -> N
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pub fn max_angular_motor_torque(&self) -> N
The maximum torque that can be delivered by the joint motor.
pub fn set_max_angular_motor_torque(&mut self, torque: N)
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pub fn set_max_angular_motor_torque(&mut self, torque: N)
Set the maximum torque that can be delivered by the joint motor.
Trait Implementations
impl<N: Copy + Real> Copy for PinSlotJoint<N>
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impl<N: Copy + Real> Copy for PinSlotJoint<N>
impl<N: Clone + Real> Clone for PinSlotJoint<N>
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impl<N: Clone + Real> Clone for PinSlotJoint<N>
fn clone(&self) -> PinSlotJoint<N>
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fn clone(&self) -> PinSlotJoint<N>
Returns a copy of the value. Read more
fn clone_from(&mut self, source: &Self)
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fn clone_from(&mut self, source: &Self)
Performs copy-assignment from source
. Read more
impl<N: Debug + Real> Debug for PinSlotJoint<N>
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impl<N: Debug + Real> Debug for PinSlotJoint<N>
fn fmt(&self, f: &mut Formatter) -> Result
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fn fmt(&self, f: &mut Formatter) -> Result
Formats the value using the given formatter. Read more
impl<N: Real> Joint<N> for PinSlotJoint<N>
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impl<N: Real> Joint<N> for PinSlotJoint<N>
fn ndofs(&self) -> usize
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fn ndofs(&self) -> usize
The number of degrees of freedom allowed by the joint.
fn body_to_parent(
&self,
parent_shift: &Vector3<N>,
body_shift: &Vector3<N>
) -> Isometry3<N>
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fn body_to_parent(
&self,
parent_shift: &Vector3<N>,
body_shift: &Vector3<N>
) -> Isometry3<N>
The position of the multibody link containing this joint relative to its parent.
fn update_jacobians(&mut self, body_shift: &Vector3<N>, vels: &[N])
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fn update_jacobians(&mut self, body_shift: &Vector3<N>, vels: &[N])
Update the jacobians of this joint.
fn jacobian(&self, transform: &Isometry3<N>, out: &mut JacobianSliceMut<N>)
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fn jacobian(&self, transform: &Isometry3<N>, out: &mut JacobianSliceMut<N>)
Sets in out
the non-zero entries of the joint jacobian transformed by transform
.
fn jacobian_dot(&self, transform: &Isometry3<N>, out: &mut JacobianSliceMut<N>)
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fn jacobian_dot(&self, transform: &Isometry3<N>, out: &mut JacobianSliceMut<N>)
Sets in out
the non-zero entries of the time-derivative of the joint jacobian transformed by transform
.
fn jacobian_dot_veldiff_mul_coordinates(
&self,
transform: &Isometry3<N>,
vels: &[N],
out: &mut JacobianSliceMut<N>
)
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fn jacobian_dot_veldiff_mul_coordinates(
&self,
transform: &Isometry3<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
.
fn jacobian_mul_coordinates(&self, vels: &[N]) -> Velocity<N>
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fn jacobian_mul_coordinates(&self, vels: &[N]) -> Velocity<N>
Multiply the joint jacobian by generalized velocities to obtain the relative velocity of the multibody link containing this joint. Read more
fn jacobian_dot_mul_coordinates(&self, vels: &[N]) -> Velocity<N>
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fn jacobian_dot_mul_coordinates(&self, vels: &[N]) -> Velocity<N>
Multiply the joint jacobian by generalized accelerations to obtain the relative acceleration of the multibody link containing this joint. Read more
fn default_damping(&self, out: &mut DVectorSliceMut<N>)
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fn default_damping(&self, out: &mut DVectorSliceMut<N>)
Fill out
with the non-zero entries of a damping that can be applied by default to ensure a good stability of the joint.
fn integrate(&mut self, params: &IntegrationParameters<N>, vels: &[N])
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fn integrate(&mut self, params: &IntegrationParameters<N>, vels: &[N])
Integrate the position of this joint.
fn apply_displacement(&mut self, disp: &[N])
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fn apply_displacement(&mut self, disp: &[N])
Apply a displacement to the joint.
fn num_velocity_constraints(&self) -> usize
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fn num_velocity_constraints(&self) -> usize
Maximum number of velocity constrains that can be generated by this joint.
fn velocity_constraints(
&self,
params: &IntegrationParameters<N>,
link: &MultibodyLinkRef<N>,
assembly_id: usize,
dof_id: usize,
ext_vels: &[N],
ground_j_id: &mut usize,
jacobians: &mut [N],
constraints: &mut ConstraintSet<N>
)
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fn velocity_constraints(
&self,
params: &IntegrationParameters<N>,
link: &MultibodyLinkRef<N>,
assembly_id: usize,
dof_id: usize,
ext_vels: &[N],
ground_j_id: &mut usize,
jacobians: &mut [N],
constraints: &mut ConstraintSet<N>
)
Initialize and generate velocity constraints to enforce, e.g., joint limits and motors.
fn num_position_constraints(&self) -> usize
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fn num_position_constraints(&self) -> usize
The maximum number of non-linear position constraints that can be generated by this joint.
fn position_constraint(
&self,
i: usize,
link: &MultibodyLinkRef<N>,
dof_id: usize,
jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N>>
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fn position_constraint(
&self,
i: usize,
link: &MultibodyLinkRef<N>,
dof_id: usize,
jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N>>
Initialize and generate the i-th position constraints to enforce, e.g., joint limits.
fn nimpulses(&self) -> usize
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fn nimpulses(&self) -> usize
The maximum number of impulses needed by this joints for its constraints. Read more
Auto Trait Implementations
impl<N> Send for PinSlotJoint<N> where
N: Scalar,
impl<N> Send for PinSlotJoint<N> where
N: Scalar,
impl<N> Sync for PinSlotJoint<N> where
N: Scalar,
impl<N> Sync for PinSlotJoint<N> where
N: Scalar,