Struct CartesianJoint 

pub struct CartesianJoint<N>
where
    N: RealField + Copy,
{ /* private fields */ }

A joint that allows only all the translational degrees of freedom between two multibody links.

Implementations

impl<N> CartesianJoint<N>

where N: RealField + Copy,

pub fn new( position: Matrix<N, Const<nalgebra::::base::dimension::U2::{constant#0}>, Const<1>, ArrayStorage<N, 2, 1>>, ) -> CartesianJoint<N>

Create a cartesian joint with an initial position given by position.

Trait Implementations

impl<N> Clone for CartesianJoint<N>

where N: Clone + RealField + Copy,

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

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl<N> Debug for CartesianJoint<N>

where N: Debug + RealField + Copy,

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

Formats the value using the given formatter.

impl<N> Joint<N> for CartesianJoint<N>

where N: RealField + Copy,

fn ndofs(&self) -> usize

The number of degrees of freedom allowed by the joint.

fn body_to_parent( &self, parent_shift: &Matrix<N, Const<nalgebra::::base::dimension::U2::{constant#0}>, Const<1>, ArrayStorage<N, 2, 1>>, body_shift: &Matrix<N, Const<nalgebra::::base::dimension::U2::{constant#0}>, Const<1>, ArrayStorage<N, 2, 1>>, ) -> Isometry<N, Unit<Complex<N>>, 2>

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

fn update_jacobians( &mut self, _: &Matrix<N, Const<nalgebra::::base::dimension::U2::{constant#0}>, Const<1>, ArrayStorage<N, 2, 1>>, _: &[N], )

Update the jacobians of this joint.

fn jacobian( &self, _: &Isometry<N, Unit<Complex<N>>, 2>, out: &mut Matrix<N, Const<nalgebra::::base::dimension::U3::{constant#0}>, Dynamic, SliceStorageMut<'_, N, Const<nalgebra::::base::dimension::U3::{constant#0}>, Dynamic, Const<1>, Const<nalgebra::::base::dimension::U3::{constant#0}>>>, )

Sets in out the non-zero entries of the joint jacobian transformed by transform.

fn jacobian_dot( &self, _: &Isometry<N, Unit<Complex<N>>, 2>, _: &mut Matrix<N, Const<nalgebra::::base::dimension::U3::{constant#0}>, Dynamic, SliceStorageMut<'_, N, Const<nalgebra::::base::dimension::U3::{constant#0}>, Dynamic, Const<1>, Const<nalgebra::::base::dimension::U3::{constant#0}>>>, )

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, _: &Isometry<N, Unit<Complex<N>>, 2>, _: &[N], _: &mut Matrix<N, Const<nalgebra::::base::dimension::U3::{constant#0}>, Dynamic, SliceStorageMut<'_, N, Const<nalgebra::::base::dimension::U3::{constant#0}>, Dynamic, Const<1>, Const<nalgebra::::base::dimension::U3::{constant#0}>>>, )

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]) -> Velocity2<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, _: &[N]) -> Velocity2<N>

Multiply the joint jacobian by generalized accelerations to obtain the relative acceleration of the multibody link containing this joint.

fn default_damping( &self, _: &mut Matrix<N, Dynamic, Const<1>, SliceStorageMut<'_, N, Dynamic, Const<1>, Const<1>, Dynamic>>, )

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 nimpulses(&self) -> usize

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

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>, _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.

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.

impl<N> Copy for CartesianJoint<N>

where N: Copy + RealField,