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JointLimits

oxiphysics_geometry::robot_geometry

Struct JointLimits 

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pub struct JointLimits {
    pub min: f64,
    pub max: f64,
    pub max_velocity: f64,
    pub max_effort: f64,
}
Expand description

Angular or linear limits for a single joint.

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§min: f64

Minimum joint value (radians or metres).

§max: f64

Maximum joint value (radians or metres).

§max_velocity: f64

Maximum joint velocity (rad/s or m/s).

§max_effort: f64

Maximum joint torque/force (Nm or N).

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impl JointLimits

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pub fn new(min: f64, max: f64, max_velocity: f64, max_effort: f64) -> Self

Creates joint limits.

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pub fn is_within(&self, value: f64) -> bool

Returns true if value is within [min, max].

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pub fn clamp(&self, value: f64) -> f64

Clamps value to [min, max].

Trait Implementations§

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impl Clone for JointLimits

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fn clone(&self) -> JointLimits

Returns a duplicate of the value. Read more
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fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source. Read more
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impl Debug for JointLimits

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

Formats the value using the given formatter. Read more
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impl Copy for JointLimits

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impl<T> Any for T
where T: 'static + ?Sized,

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fn type_id(&self) -> TypeId

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fn borrow(&self) -> &T

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fn borrow_mut(&mut self) -> &mut T

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impl<T> CloneToUninit for T
where T: Clone,

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unsafe fn clone_to_uninit(&self, dest: *mut u8)

🔬This is a nightly-only experimental API. (clone_to_uninit)
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impl<T> From<T> for T

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fn from(t: T) -> T

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fn into(self) -> U

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type Output = T

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type Error = Infallible

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Performs the conversion.
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