Struct Joint 

pub struct Joint { /* private fields */ }

A canonical structural joint.

Implementations

impl Joint

pub fn name(&self) -> &str

pub const fn kind(&self) -> JointKind

pub const fn origin(&self) -> Pose

pub fn parent(&self) -> &str

pub fn child(&self) -> &str

pub const fn axis(&self) -> [f64; 3]

pub const fn limit(&self) -> JointLimit

pub const fn calibration(&self) -> Option<Calibration>

pub const fn dynamics(&self) -> Option<Dynamics>

pub fn mimic(&self) -> Option<&Mimic>

pub const fn safety(&self) -> Option<Safety>

Trait Implementations

impl Clone for Joint

fn clone(&self) -> Joint

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for Joint

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

Formats the value using the given formatter.