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Model

phyz_model::model

Struct Model 

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pub struct Model {
    pub bodies: Vec<Body>,
    pub joints: Vec<Joint>,
    pub gravity: Vec3,
    pub dt: f64,
    pub nq: usize,
    pub nv: usize,
    pub q_offsets: Vec<usize>,
    pub v_offsets: Vec<usize>,
    pub actuators: Vec<Actuator>,
}
Expand description

Static model describing the topology and parameters of a physical system.

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§bodies: Vec<Body>

Bodies in the kinematic tree (index 0 = first body, no world body).

§joints: Vec<Joint>

Joints connecting bodies.

§gravity: Vec3

Gravity vector in world frame.

§dt: f64

Integration timestep.

§nq: usize

Total number of position DOFs.

§nv: usize

Total number of velocity DOFs.

§q_offsets: Vec<usize>

Position DOF offset for each joint.

§v_offsets: Vec<usize>

Velocity DOF offset for each joint.

§actuators: Vec<Actuator>

Actuators (motors) acting on joints.

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impl Model

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pub fn default_state(&self) -> State

Create a default empty state for this model.

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pub fn nbodies(&self) -> usize

Number of bodies.

Trait Implementations§

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impl Clone for Model

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fn clone(&self) -> Model

Returns a duplicate of the value. Read more
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fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source. Read more
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impl Debug for Model

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

Formats the value using the given formatter. Read more

Auto Trait Implementations§

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impl Freeze for Model

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impl RefUnwindSafe for Model

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impl Send for Model

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impl Sync for Model

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impl Unpin for Model

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impl UnsafeUnpin for Model

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impl UnwindSafe for Model

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impl<T> Any for T
where T: 'static + ?Sized,

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fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more
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impl<T> Borrow<T> for T
where T: ?Sized,

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fn borrow(&self) -> &T

Immutably borrows from an owned value. Read more
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impl<T> BorrowMut<T> for T
where T: ?Sized,

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fn borrow_mut(&mut self) -> &mut T

Mutably borrows from an owned value. Read more
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impl<T> CloneToUninit for T
where T: Clone,

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unsafe fn clone_to_uninit(&self, dest: *mut u8)

🔬This is a nightly-only experimental API. (clone_to_uninit)
Performs copy-assignment from self to dest. Read more
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impl<T> From<T> for T

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fn from(t: T) -> T

Returns the argument unchanged.

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impl<T, U> Into<U> for T
where U: From<T>,

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fn into(self) -> U

Calls U::from(self).

That is, this conversion is whatever the implementation of From<T> for U chooses to do.

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impl<T> Same for T

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type Output = T

Should always be Self
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impl<SS, SP> SupersetOf<SS> for SP
where SS: SubsetOf<SP>,

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fn to_subset(&self) -> Option<SS>

The inverse inclusion map: attempts to construct self from the equivalent element of its superset. Read more
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fn is_in_subset(&self) -> bool

Checks if self is actually part of its subset T (and can be converted to it).
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fn to_subset_unchecked(&self) -> SS

Use with care! Same as self.to_subset but without any property checks. Always succeeds.
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fn from_subset(element: &SS) -> SP

The inclusion map: converts self to the equivalent element of its superset.
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impl<T> ToOwned for T
where T: Clone,

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type Owned = T

The resulting type after obtaining ownership.
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fn to_owned(&self) -> T

Creates owned data from borrowed data, usually by cloning. Read more
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fn clone_into(&self, target: &mut T)

Uses borrowed data to replace owned data, usually by cloning. Read more
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impl<T, U> TryFrom<U> for T
where U: Into<T>,

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type Error = Infallible

The type returned in the event of a conversion error.
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fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>

Performs the conversion.
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impl<T, U> TryInto<U> for T
where U: TryFrom<T>,

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type Error = <U as TryFrom<T>>::Error

The type returned in the event of a conversion error.
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fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>

Performs the conversion.