Enum Sensor 

pub enum Sensor {
    JointState {
        joint_idx: usize,
    },
    BodyAccel {
        body_idx: usize,
    },
    BodyAngularVel {
        body_idx: usize,
    },
    ForceTorque {
        body_idx: usize,
    },
    Rangefinder {
        body_idx: usize,
        max_dist: f64,
    },
    Imu {
        body_idx: usize,
    },
    FrameCapture {
        body_idx: usize,
    },
}

Sensor types for extracting observations from simulation.

Variants

JointState

Joint position and velocity sensor.

Fields

joint_idx: usize

BodyAccel

Body linear acceleration in world frame.

Fields

body_idx: usize

BodyAngularVel

Body angular velocity in body frame.

Fields

body_idx: usize

ForceTorque

Reaction force/torque at body.

Fields

body_idx: usize

Rangefinder

Distance to nearest obstacle (placeholder - requires collision detection).

Fields

body_idx: usize

max_dist: f64

Imu

IMU: acceleration + angular velocity in body frame.

Fields

body_idx: usize

FrameCapture

Snapshot of body transform.

Fields

body_idx: usize

Implementations

impl Sensor

pub fn read( &self, model: &Model, state: &State, sensor_id: usize, ) -> SensorOutput

Read sensor output from current state.

Returns a SensorOutput with sensor_id set to 0 (caller should update).

pub fn output_dim(&self) -> usize

Get expected output dimension for this sensor.

Trait Implementations

impl Clone for Sensor

fn clone(&self) -> Sensor

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for Sensor

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

Formats the value using the given formatter.