Struct JointSpec 

pub struct JointSpec {
    pub joint_type: JointTypeSpec,
    pub parent: String,
    pub child: String,
    pub axis: [f64; 3],
    pub position: [f64; 3],
    pub orientation: [f64; 4],
    pub limits: Option<[f64; 2]>,
    pub damping: f64,
}

Joint specification.

Fields

joint_type: JointTypeSpec

Joint type.

parent: String

Parent body name.

child: String

Child body name.

axis: [f64; 3]

Joint axis (for revolute/prismatic).

position: [f64; 3]

Position of joint in parent frame.

orientation: [f64; 4]

Orientation of joint in parent frame (quaternion [w, x, y, z]).

limits: Option<[f64; 2]>

Joint limits [lower, upper].

damping: f64

Joint damping.

Trait Implementations

impl Clone for JointSpec

fn clone(&self) -> JointSpec

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for JointSpec

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

Formats the value using the given formatter.

impl<'de> Deserialize<'de> for JointSpec

fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl Serialize for JointSpec

fn serialize<__S>(&self, __serializer: __S) -> Result<__S::Ok, __S::Error>

where __S: Serializer,

Serialize this value into the given Serde serializer.