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State

Struct State

pub struct State {
    pub q: Matrix<f64, Dyn, Const<1>, VecStorage<f64, Dyn, Const<1>>>,
    pub v: Matrix<f64, Dyn, Const<1>, VecStorage<f64, Dyn, Const<1>>>,
    pub ctrl: Matrix<f64, Dyn, Const<1>, VecStorage<f64, Dyn, Const<1>>>,
    pub time: f64,
    pub body_xform: Vec<SpatialTransform>,
    pub qfrc_external: Matrix<f64, Dyn, Const<1>, VecStorage<f64, Dyn, Const<1>>>,
}

Expand description

Mutable simulation state.

Fields§

§q: Matrix<f64, Dyn, Const<1>, VecStorage<f64, Dyn, Const<1>>>

Generalized positions (joint angles/displacements).

§v: Matrix<f64, Dyn, Const<1>, VecStorage<f64, Dyn, Const<1>>>

Generalized velocities.

§ctrl: Matrix<f64, Dyn, Const<1>, VecStorage<f64, Dyn, Const<1>>>

Control inputs / applied torques.

§time: f64

Simulation time.

§body_xform: Vec<SpatialTransform>

Body-to-world transforms for each body.

§qfrc_external: Matrix<f64, Dyn, Const<1>, VecStorage<f64, Dyn, Const<1>>>

External generalized forces (e.g., from contacts).

Implementations§

impl State

pub fn new(nq: usize, nv: usize, nbodies: usize) -> State

Create a zero-initialized state for nq position DOFs and nv velocity DOFs.

pub fn kinetic_energy( &self, mass_matrix: &Matrix<f64, Dyn, Dyn, VecStorage<f64, Dyn, Dyn>>, ) -> f64

Compute total kinetic energy given mass matrix. KE = 0.5 * v^T * M * v

Trait Implementations§

impl Clone for State

fn clone(&self) -> State

Returns a duplicate of the value. Read more

1.0.0 · Source§

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

Performs copy-assignment from source. Read more

impl Debug for State

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

Formats the value using the given formatter. Read more

Auto Trait Implementations§

impl Freeze for State

impl RefUnwindSafe for State

impl Send for State

impl Sync for State

impl Unpin for State

impl UnsafeUnpin for State

impl UnwindSafe for State

Blanket Implementations§

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

fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more

impl<T> Borrow<T> for T
where T: ?Sized,

fn borrow(&self) -> &T

Immutably borrows from an owned value. Read more

impl<T> BorrowMut<T> for T
where T: ?Sized,

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

Mutably borrows from an owned value. Read more

impl<T> CloneToUninit for T
where T: Clone,

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

impl<T> Downcast<T> for T

fn downcast(&self) -> &T

impl<T> From<T> for T

fn from(t: T) -> T

Returns the argument unchanged.

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

fn into(self) -> U

Calls U::from(self).

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

impl<T> Same for T

type Output = T

Should always be Self

impl<SS, SP> SupersetOf<SS> for SP
where SS: SubsetOf<SP>,

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

The inverse inclusion map: attempts to construct self from the equivalent element of its superset. Read more

fn is_in_subset(&self) -> bool

Checks if self is actually part of its subset T (and can be converted to it).

fn to_subset_unchecked(&self) -> SS

Use with care! Same as self.to_subset but without any property checks. Always succeeds.

fn from_subset(element: &SS) -> SP

The inclusion map: converts self to the equivalent element of its superset.

impl<T> ToOwned for T
where T: Clone,

type Owned = T

The resulting type after obtaining ownership.

fn to_owned(&self) -> T

Creates owned data from borrowed data, usually by cloning. Read more

fn clone_into(&self, target: &mut T)

Uses borrowed data to replace owned data, usually by cloning. Read more

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

type Error = Infallible

The type returned in the event of a conversion error.

fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>

Performs the conversion.

impl<T, U> TryInto<U> for T
where U: TryFrom<T>,

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

The type returned in the event of a conversion error.

fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>

Performs the conversion.

impl<T> Upcast<T> for T

fn upcast(&self) -> Option<&T>

impl<V, T> VZip<V> for T
where V: MultiLane<T>,

fn vzip(self) -> V

impl<T> WasmNotSend for T
where T: Send,

impl<T> WasmNotSendSync for T
where T: WasmNotSend + WasmNotSync,

impl<T> WasmNotSync for T
where T: Sync,