Struct PinSlotJoint

pub struct PinSlotJoint<N: RealField + Copy> { /* private fields */ }

A joint that allows one translational and one rotational degrees of freedom.

Both are not required to be along the same direction.

Implementations

impl<N: RealField + Copy> PinSlotJoint<N>

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

The linear displacement.

pub fn angle(&self) -> N

The angular displacement.

impl<N: RealField + Copy> PinSlotJoint<N>

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>

The upper limit of the relative translational displacement of the attached multibody links along the joint axis.

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)

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)

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)

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

Returns true if the joint translational motor is enabled.

pub fn enable_linear_motor(&mut self)

Enable the joint translational motor.

pub fn disable_linear_motor(&mut self)

Disable the joint translational motor.

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)

Set the desired relative translational velocity to be enforced by the joint motor.

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)

Set the maximum force that can be output by the joint translational motor.

impl<N: RealField + Copy> PinSlotJoint<N>

pub fn min_angle(&self) -> Option<N>

The lower limit of the rotation angle.

pub fn max_angle(&self) -> Option<N>

The upper limit of the rotation angle.

pub fn disable_min_angle(&mut self)

Disable the lower limit of the rotation angle.

pub fn disable_max_angle(&mut self)

Disable the upper limit of the rotation angle.

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)

Enable and set the upper limit of the rotation angle.

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)

Enable the angular motor of this joint.

pub fn disable_angular_motor(&mut self)

Disable the angular motor of this joint.

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)

Set the desired angular velocity of the joint motor.

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)

Set the maximum torque that can be delivered by the joint motor.

Trait Implementations

impl<N: Clone + RealField + Copy> Clone for PinSlotJoint<N>

fn clone(&self) -> PinSlotJoint<N>

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl<N: Debug + RealField + Copy> Debug for PinSlotJoint<N>

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

Formats the value using the given formatter.

impl<N: RealField + Copy> Joint<N> for PinSlotJoint<N>

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>

The position of the multibody link containing this joint relative to its parent.

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>)

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>, )

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>, )

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>

Multiply the joint jacobian by generalized velocities to obtain the relative velocity of the multibody link containing this joint.

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.

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, parameters: &IntegrationParameters<N>, vels: &[N])

Integrate the position of this joint.

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

Apply a displacement to the joint.

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

fn num_velocity_constraints(&self) -> usize

Maximum number of velocity constrains that can be generated by this joint.

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>, )

Initialize and generate velocity constraints to enforce, e.g., joint limits and motors.

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, 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.

fn nimpulses(&self) -> usize

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

impl<N: Copy + RealField + Copy> Copy for PinSlotJoint<N>