Struct StepJacobians 

pub struct StepJacobians {
    pub dqnext_dq: DMat,
    pub dqnext_dv: DMat,
    pub dvnext_dq: DMat,
    pub dvnext_dv: DMat,
    pub dvnext_dctrl: DMat,
}

Jacobians of a single simulation step.

For state (q, v) -> (q’, v’) after one step:

• dqnext_dq: dq’/dq
• dqnext_dv: dq’/dv
• dvnext_dq: dv’/dq
• dvnext_dv: dv’/dv
• dvnext_dctrl: dv’/dctrl

Fields

dqnext_dq: DMat

dq’/dq — sensitivity of next positions to current positions.

dqnext_dv: DMat

dq’/dv — sensitivity of next positions to current velocities.

dvnext_dq: DMat

dv’/dq — sensitivity of next velocities to current positions.

dvnext_dv: DMat

dv’/dv — sensitivity of next velocities to current velocities.

dvnext_dctrl: DMat

dv’/dctrl — sensitivity of next velocities to applied joint torques.

Trait Implementations

impl Clone for StepJacobians

fn clone(&self) -> StepJacobians

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for StepJacobians

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

Formats the value using the given formatter.