Struct DofLayout 

pub struct DofLayout {
    pub nq: usize,
    pub nv: usize,
    pub q_offsets: Vec<usize>,
    pub v_offsets: Vec<usize>,
}

The q/v coordinate split for a model under this module’s layout.

nv and v_offsets agree with Model::nv / Model::v_offsets (velocity coordinates are the motion subspace either way). nq and q_offsets do not agree with the model’s when any spherical or free joint is present, because those carry quaternions here — always index a diff-rollout q through this layout, never through Model::q_offsets.

Fields

nq: usize

Total number of position coordinates.

nv: usize

Total number of velocity coordinates (== Model::nv).

q_offsets: Vec<usize>

Position offset of each joint, parallel to Model::joints.

v_offsets: Vec<usize>

Velocity offset of each joint, parallel to Model::joints.

Implementations

impl DofLayout

pub fn of(model: &Model) -> Self

Derive the layout of a model.

pub fn neutral_q(&self, model: &Model) -> Vec<f64>

The identity configuration: zeros, except every quaternion sub-block is the identity rotation [1, 0, 0, 0]. Use this as the base for a q0 and overwrite the coordinates you care about.

Trait Implementations

impl Clone for DofLayout

fn clone(&self) -> DofLayout

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for DofLayout

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

Formats the value using the given formatter.

impl Eq for DofLayout

impl PartialEq for DofLayout

fn eq(&self, other: &DofLayout) -> bool

Equality operator ==.

fn ne(&self, other: &Rhs) -> bool

Inequality operator !=.

impl StructuralPartialEq for DofLayout