Struct SmartJointBuilder

pub struct SmartJointBuilder<Type, Axis, Calibration, Dynamics, Limit, Mimic, SafetyController>
where
    Axis: AxisDataType,
    Calibration: CalibrationDataType,
    Dynamics: DynamicsDataType,
    Limit: LimitDataType,
    Mimic: MimicDataType,
    SafetyController: SafetyControllerDataType,
{ /* private fields */ }

Implementations

impl<Type, Axis, Calibration, Dynamics, Limit, Mimic, SafetyController> SmartJointBuilder<Type, Axis, Calibration, Dynamics, Limit, Mimic, SafetyController>

where Type: AxisAllowed, Axis: AxisDataType, Calibration: CalibrationDataType, Dynamics: DynamicsDataType, Limit: LimitDataType, Mimic: MimicDataType, SafetyController: SafetyControllerDataType,

pub fn with_axis( self, axis: (f32, f32, f32), ) -> SmartJointBuilder<Type, WithAxis, Calibration, Dynamics, Limit, Mimic, SafetyController>

impl<Type, Calibration, Dynamics, Limit, Mimic, SafetyController> SmartJointBuilder<Type, WithAxis, Calibration, Dynamics, Limit, Mimic, SafetyController>

where Type: AxisAllowed, Calibration: CalibrationDataType, Dynamics: DynamicsDataType, Limit: LimitDataType, Mimic: MimicDataType, SafetyController: SafetyControllerDataType,

pub fn axis(&self) -> (f32, f32, f32)

impl<Type, Axis, Dynamics, Limit, Mimic, SafetyController> SmartJointBuilder<Type, Axis, NoCalibration, Dynamics, Limit, Mimic, SafetyController>

where Type: CalibrationAllowed, Axis: AxisDataType, Dynamics: DynamicsDataType, Limit: LimitDataType, Mimic: MimicDataType, SafetyController: SafetyControllerDataType,

pub fn with_calibration( self, ) -> SmartJointBuilder<Type, Axis, WithCalibration, Dynamics, Limit, Mimic, SafetyController>

impl<Type, Axis, Dynamics, Limit, Mimic, SafetyController> SmartJointBuilder<Type, Axis, WithCalibration, Dynamics, Limit, Mimic, SafetyController>

where Type: CalibrationAllowed, Axis: AxisDataType, Dynamics: DynamicsDataType, Limit: LimitDataType, Mimic: MimicDataType, SafetyController: SafetyControllerDataType,

pub fn set_rising_calibration(self, rising: f32) -> Self

pub fn rising_calibration(&self) -> Option<f32>

pub fn set_falling_calibration(self, falling: f32) -> Self

pub fn falling_calibration(&self) -> Option<f32>

impl<Type, Axis, Calibration, Limit, Mimic, SafetyController> SmartJointBuilder<Type, Axis, Calibration, NoDynamics, Limit, Mimic, SafetyController>

where Type: DynamicsAllowed, Axis: AxisDataType, Calibration: CalibrationDataType, Limit: LimitDataType, Mimic: MimicDataType, SafetyController: SafetyControllerDataType,

pub fn with_dynamics( self, ) -> SmartJointBuilder<Type, Axis, Calibration, WithDynamics, Limit, Mimic, SafetyController>

impl<Type, Axis, Calibration, Limit, Mimic, SafetyController> SmartJointBuilder<Type, Axis, Calibration, WithDynamics, Limit, Mimic, SafetyController>

where Type: DynamicsAllowed, Axis: AxisDataType, Calibration: CalibrationDataType, Limit: LimitDataType, Mimic: MimicDataType, SafetyController: SafetyControllerDataType,

pub fn set_damping(self, damping: f32) -> Self

pub fn damping(&self) -> Option<f32>

pub fn set_friction(self, friction: f32) -> Self

pub fn friction(&self) -> Option<f32>

impl<Type, Axis, Calibration, Dynamics, Mimic, SafetyController> SmartJointBuilder<Type, Axis, Calibration, Dynamics, NoLimit, Mimic, SafetyController>

where Type: LimitAllowed, Axis: AxisDataType, Calibration: CalibrationDataType, Dynamics: DynamicsDataType, Mimic: MimicDataType, SafetyController: SafetyControllerDataType,

pub fn with_limit( self, effort: f32, velocity: f32, ) -> SmartJointBuilder<Type, Axis, Calibration, Dynamics, WithLimit, Mimic, SafetyController>

impl<Type, Axis, Calibration, Dynamics, Mimic, SafetyController> SmartJointBuilder<Type, Axis, Calibration, Dynamics, WithLimit, Mimic, SafetyController>

where Type: LimitAllowed, Axis: AxisDataType, Calibration: CalibrationDataType, Dynamics: DynamicsDataType, Mimic: MimicDataType, SafetyController: SafetyControllerDataType,

pub fn set_effort(self, effort: f32) -> Self

pub fn effort(&self) -> f32

pub fn set_velocity(self, velocity: f32) -> Self

Sets the velocity limit to the specified value in m/s or rad/s (velocity).

pub fn velocity(&self) -> f32

Retrieves the set velocity limit in m/s or rad/s (velocity).

impl<Type, Axis, Calibration, Dynamics, Mimic, SafetyController> SmartJointBuilder<Type, Axis, Calibration, Dynamics, WithLimit, Mimic, SafetyController>

where Type: LimitAllowed + SmartJointTypeTrait<false>, Axis: AxisDataType, Calibration: CalibrationDataType, Dynamics: DynamicsDataType, Mimic: MimicDataType, SafetyController: SafetyControllerDataType,

The limits are only available on non continuous JointTypes.

pub fn set_upper_limit(self, upper_limit: f32) -> Self

Sets the upper limit (upper) in meters or radians.

pub fn upper_limit(&self) -> Option<f32>

Retrieves the upper limit (upper) in meters or radians.

pub fn set_lower_limit(self, lower_limit: f32) -> Self

Sets the lower limit (lower) in meters or radians.

pub fn lower_limit(&self) -> Option<f32>

Retrieves the lower limit (lower) in meters or radians.

impl<Type, Axis, Calibration, Dynamics, Limit, SafetyController> SmartJointBuilder<Type, Axis, Calibration, Dynamics, Limit, NoMimic, SafetyController>

where Type: MimicAllowed, Axis: AxisDataType, Calibration: CalibrationDataType, Dynamics: DynamicsDataType, Limit: LimitDataType, SafetyController: SafetyControllerDataType,

pub fn with_mimic( self, mimiced_joint_name: impl Into<String>, ) -> SmartJointBuilder<Type, Axis, Calibration, Dynamics, Limit, WithMimic, SafetyController>

impl<Type, Axis, Calibration, Dynamics, Limit, SafetyController> SmartJointBuilder<Type, Axis, Calibration, Dynamics, Limit, WithMimic, SafetyController>

where Type: MimicAllowed, Axis: AxisDataType, Calibration: CalibrationDataType, Dynamics: DynamicsDataType, Limit: LimitDataType, SafetyController: SafetyControllerDataType,

pub fn set_mimiced_joint_name( self, mimiced_joint_name: impl Into<String>, ) -> Self

pub fn mimiced_joint_name(&self) -> &String

pub fn set_mimic_multiplier(self, multiplier: f32) -> Self

pub fn mimic_multiplier(&self) -> Option<f32>

pub fn set_mimic_offset(self, offset: f32) -> Self

Specifies the offset to add in the formula above. Defaults to 0 (radians for revolute joints, meters for prismatic joints).

pub fn mimic_offset(&self) -> Option<f32>

impl<Type, Axis, Calibration, Dynamics, Limit, Mimic> SmartJointBuilder<Type, Axis, Calibration, Dynamics, Limit, Mimic, NoSafetyController>

where Type: SafetyControllerAllowed, Axis: AxisDataType, Calibration: CalibrationDataType, Dynamics: DynamicsDataType, Limit: LimitDataType, Mimic: MimicDataType,

pub fn with_safety_controller( self, k_velocity: f32, ) -> SmartJointBuilder<Type, Axis, Calibration, Dynamics, Limit, Mimic, WithSafetyController>

impl<Type, Axis, Calibration, Dynamics, Limit, Mimic> SmartJointBuilder<Type, Axis, Calibration, Dynamics, Limit, Mimic, WithSafetyController>

where Type: SafetyControllerAllowed, Axis: AxisDataType, Calibration: CalibrationDataType, Dynamics: DynamicsDataType, Limit: LimitDataType, Mimic: MimicDataType,

pub fn set_k_position(self, k_position: f32) -> Self

pub fn k_position(&self) -> Option<f32>

pub fn set_k_velocity(self, k_velocity: f32) -> Self

Sets the k_velocity limit to the specified value in m/s or rad/s (k_velocity).

pub fn k_velocity(&self) -> f32

Retrieves the set k_velocity limit in m/s or rad/s (k_velocity).

impl<Type, Axis, Calibration, Dynamics, Limit, Mimic> SmartJointBuilder<Type, Axis, Calibration, Dynamics, Limit, Mimic, WithSafetyController>

where Type: SafetyControllerAllowed + SmartJointTypeTrait<false>, Axis: AxisDataType, Calibration: CalibrationDataType, Dynamics: DynamicsDataType, Limit: LimitDataType, Mimic: MimicDataType,

The (soft) limits are only available on non continuous JointTypes.

pub fn set_soft_lower_limit(self, soft_lower_limit: f32) -> Self

Sets the soft lower limit (soft_lower_limit).

pub fn soft_lower_limit(&self) -> Option<f32>

Retrieve the specified soft lower limit (soft_lower_limit).

pub fn set_soft_upper_limit(self, soft_upper_limit: f32) -> Self

Sets the soft upper limit (soft_upper_limit).

pub fn soft_upper_limit(&self) -> Option<f32>

Retrieve the specified soft upper limit (soft_upper_limit).

impl<Type, Axis, Calibration, Dynamics, Limit, Mimic, SafetyController> SmartJointBuilder<Type, Axis, Calibration, Dynamics, Limit, Mimic, SafetyController>

where Axis: AxisDataType, Calibration: CalibrationDataType, Dynamics: DynamicsDataType, Limit: LimitDataType, Mimic: MimicDataType, SafetyController: SafetyControllerDataType,

pub fn rename(self, name: impl Into<String>) -> Self

Renames the current SmartJointBuilder.

pub fn add_transform(self, transform: Transform) -> Self

pub fn add_dynamic_transform(self, func: fn(LinkShapeData) -> Transform) -> Self

impl SmartJointBuilder<NoType, NoAxis, NoCalibration, NoDynamics, NoLimit, NoMimic, NoSafetyController>

pub fn new( name: impl Into<String>, ) -> SmartJointBuilder<NoType, NoAxis, NoCalibration, NoDynamics, NoLimit, NoMimic, NoSafetyController>

Created a new JointType-less SmartJointBuilder.

pub fn new_revolute( name: impl Into<String>, ) -> SmartJointBuilder<RevoluteType, NoAxis, NoCalibration, NoDynamics, NoLimit, NoMimic, NoSafetyController>

Creates a new SmartJointBuilder with JointType::Revolute.

pub fn new_continuous( name: impl Into<String>, ) -> SmartJointBuilder<ContinuousType, NoAxis, NoCalibration, NoDynamics, NoLimit, NoMimic, NoSafetyController>

Creates a new SmartJointBuilder of type Continuous.

pub fn new_prismatic( name: impl Into<String>, ) -> SmartJointBuilder<PrismaticType, NoAxis, NoCalibration, NoDynamics, NoLimit, NoMimic, NoSafetyController>

Creates a new SmartJointBuilder of type Prismatic.

pub fn new_fixed( name: impl Into<String>, ) -> SmartJointBuilder<FixedType, NoAxis, NoCalibration, NoDynamics, NoLimit, NoMimic, NoSafetyController>

Creates a new SmartJointBuilder of type Fixed.

pub fn new_floating( name: impl Into<String>, ) -> SmartJointBuilder<FloatingType, NoAxis, NoCalibration, NoDynamics, NoLimit, NoMimic, NoSafetyController>

Creates a new SmartJointBuilder of type Floating.

pub fn new_planar( name: impl Into<String>, ) -> SmartJointBuilder<PlanarType, NoAxis, NoCalibration, NoDynamics, NoLimit, NoMimic, NoSafetyController>

Creates a new SmartJointBuilder of type Planar.

pub fn revolute( self, ) -> SmartJointBuilder<RevoluteType, NoAxis, NoCalibration, NoDynamics, NoLimit, NoMimic, NoSafetyController>

Converts this SmartJointBuilder to the Revolute type.

pub fn continuous( self, ) -> SmartJointBuilder<ContinuousType, NoAxis, NoCalibration, NoDynamics, NoLimit, NoMimic, NoSafetyController>

Converts this SmartJointBuilder to the Continuous type.

pub fn prismatic( self, ) -> SmartJointBuilder<PrismaticType, NoAxis, NoCalibration, NoDynamics, NoLimit, NoMimic, NoSafetyController>

Converts this SmartJointBuilder to the Prismatic type.

pub fn fixed( self, ) -> SmartJointBuilder<FixedType, NoAxis, NoCalibration, NoDynamics, NoLimit, NoMimic, NoSafetyController>

Converts this SmartJointBuilder to the Fixed type.

pub fn floating( self, ) -> SmartJointBuilder<FloatingType, NoAxis, NoCalibration, NoDynamics, NoLimit, NoMimic, NoSafetyController>

Converts this SmartJointBuilder to the Floating type.

pub fn planar( self, ) -> SmartJointBuilder<PlanarType, NoAxis, NoCalibration, NoDynamics, NoLimit, NoMimic, NoSafetyController>

Converts this SmartJointBuilder to the Planar type.

Trait Implementations

impl<Type: Clone, Axis, Calibration, Dynamics, Limit, Mimic, SafetyController> Clone for SmartJointBuilder<Type, Axis, Calibration, Dynamics, Limit, Mimic, SafetyController>

where Axis: AxisDataType + Clone, Calibration: CalibrationDataType + Clone, Dynamics: DynamicsDataType + Clone, Limit: LimitDataType + Clone, Mimic: MimicDataType + Clone, SafetyController: SafetyControllerDataType + Clone,

fn clone( &self, ) -> SmartJointBuilder<Type, Axis, Calibration, Dynamics, Limit, Mimic, SafetyController>

Returns a copy of the value.

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

Performs copy-assignment from source.

impl<Type: Debug, Axis, Calibration, Dynamics, Limit, Mimic, SafetyController> Debug for SmartJointBuilder<Type, Axis, Calibration, Dynamics, Limit, Mimic, SafetyController>

where Axis: AxisDataType + Debug, Calibration: CalibrationDataType + Debug, Dynamics: DynamicsDataType + Debug, Limit: LimitDataType + Debug, Mimic: MimicDataType + Debug, SafetyController: SafetyControllerDataType + Debug,

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

Formats the value using the given formatter.

impl<Type: Default, Axis, Calibration, Dynamics, Limit, Mimic, SafetyController> Default for SmartJointBuilder<Type, Axis, Calibration, Dynamics, Limit, Mimic, SafetyController>

where Axis: AxisDataType + Default, Calibration: CalibrationDataType + Default, Dynamics: DynamicsDataType + Default, Limit: LimitDataType + Default, Mimic: MimicDataType + Default, SafetyController: SafetyControllerDataType + Default,

fn default() -> SmartJointBuilder<Type, Axis, Calibration, Dynamics, Limit, Mimic, SafetyController>

Returns the “default value” for a type.

impl<Axis, Calibration, Dynamics, Limit, Mimic, SafetyController> From<SmartJointBuilder<ContinuousType, Axis, Calibration, Dynamics, Limit, Mimic, SafetyController>> for JointBuilder

where Axis: AxisDataType, Calibration: CalibrationDataType, Dynamics: DynamicsDataType, Limit: LimitDataType, Mimic: MimicDataType, SafetyController: SafetyControllerDataType,

fn from( value: SmartJointBuilder<ContinuousType, Axis, Calibration, Dynamics, Limit, Mimic, SafetyController>, ) -> Self

Converts to this type from the input type.

impl From<SmartJointBuilder<FixedType, NoAxis, NoCalibration, NoDynamics, NoLimit, NoMimic, NoSafetyController>> for JointBuilder

fn from( value: SmartJointBuilder<FixedType, NoAxis, NoCalibration, NoDynamics, NoLimit, NoMimic, NoSafetyController>, ) -> Self

Converts to this type from the input type.

impl From<SmartJointBuilder<FloatingType, NoAxis, NoCalibration, NoDynamics, NoLimit, NoMimic, NoSafetyController>> for JointBuilder

fn from( value: SmartJointBuilder<FloatingType, NoAxis, NoCalibration, NoDynamics, NoLimit, NoMimic, NoSafetyController>, ) -> Self

Converts to this type from the input type.

impl<Axis, Calibration, Dynamics, Limit, Mimic, SafetyController> From<SmartJointBuilder<PlanarType, Axis, Calibration, Dynamics, Limit, Mimic, SafetyController>> for JointBuilder

where Axis: AxisDataType, Calibration: CalibrationDataType, Dynamics: DynamicsDataType, Limit: LimitDataType, Mimic: MimicDataType, SafetyController: SafetyControllerDataType,

fn from( value: SmartJointBuilder<PlanarType, Axis, Calibration, Dynamics, Limit, Mimic, SafetyController>, ) -> Self

Converts to this type from the input type.

impl<Axis, Calibration, Dynamics, Mimic, SafetyController> From<SmartJointBuilder<PrismaticType, Axis, Calibration, Dynamics, WithLimit, Mimic, SafetyController>> for JointBuilder

where Axis: AxisDataType, Calibration: CalibrationDataType, Dynamics: DynamicsDataType, Mimic: MimicDataType, SafetyController: SafetyControllerDataType,

fn from( value: SmartJointBuilder<PrismaticType, Axis, Calibration, Dynamics, WithLimit, Mimic, SafetyController>, ) -> Self

Converts to this type from the input type.

impl<Axis, Calibration, Dynamics, Mimic, SafetyController> From<SmartJointBuilder<RevoluteType, Axis, Calibration, Dynamics, WithLimit, Mimic, SafetyController>> for JointBuilder

where Axis: AxisDataType, Calibration: CalibrationDataType, Dynamics: DynamicsDataType, Mimic: MimicDataType, SafetyController: SafetyControllerDataType,

fn from( value: SmartJointBuilder<RevoluteType, Axis, Calibration, Dynamics, WithLimit, Mimic, SafetyController>, ) -> Self

Converts to this type from the input type.

impl<Type: PartialEq, Axis, Calibration, Dynamics, Limit, Mimic, SafetyController> PartialEq for SmartJointBuilder<Type, Axis, Calibration, Dynamics, Limit, Mimic, SafetyController>

where Axis: AxisDataType + PartialEq, Calibration: CalibrationDataType + PartialEq, Dynamics: DynamicsDataType + PartialEq, Limit: LimitDataType + PartialEq, Mimic: MimicDataType + PartialEq, SafetyController: SafetyControllerDataType + PartialEq,

fn eq( &self, other: &SmartJointBuilder<Type, Axis, Calibration, Dynamics, Limit, Mimic, SafetyController>, ) -> bool

Tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl<Type, Axis, Calibration, Dynamics, Limit, Mimic, SafetyController> StructuralPartialEq for SmartJointBuilder<Type, Axis, Calibration, Dynamics, Limit, Mimic, SafetyController>

where Axis: AxisDataType, Calibration: CalibrationDataType, Dynamics: DynamicsDataType, Limit: LimitDataType, Mimic: MimicDataType, SafetyController: SafetyControllerDataType,