Struct JointLimit 

pub struct JointLimit {
    pub lower: f64,
    pub upper: f64,
    pub effort: f64,
    pub velocity: f64,
}

How far, how hard and how fast a joint may be driven.

The default is all zeroes, which is what the document compiler emits for a URDF joint that authors no <limit>. The range must be finite and non-inverted, which RobotBuilder::build checks.

Fields

lower: f64

The lowest position the joint may reach, in metres or radians.

upper: f64

The highest position the joint may reach, in metres or radians.

effort: f64

The largest force or torque the joint may apply, in N or Nm.

velocity: f64

The largest speed the joint may move at, in m/s or rad/s.

Trait Implementations

impl Clone for JointLimit

fn clone(&self) -> JointLimit

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for JointLimit

impl Debug for JointLimit

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

Formats the value using the given formatter.

impl Default for JointLimit

fn default() -> JointLimit

Returns the “default value” for a type.