Enum CuJointLimits 

pub enum CuJointLimits {
    Revolute {
        lower: Angle,
        upper: Angle,
        max_velocity: AngularVelocity,
    },
    Prismatic {
        lower: Length,
        upper: Length,
        max_velocity: Velocity,
    },
    Continuous {
        max_velocity: AngularVelocity,
    },
    Fixed,
}

Position and velocity bounds, with units determined by joint type.

Variants

Revolute

Fields

lower: Angle

upper: Angle

max_velocity: AngularVelocity

Prismatic

Fields

lower: Length

upper: Length

max_velocity: Velocity

Continuous

Unbounded rotation; finite bounds returned by lower/upper are a sampling interval.

Fields

max_velocity: AngularVelocity

Fixed

Implementations

impl CuJointLimits

pub const fn revolute( lower: Angle, upper: Angle, max_velocity: AngularVelocity, ) -> Self

Creates bounded revolute limits.

pub const fn prismatic( lower: Length, upper: Length, max_velocity: Velocity, ) -> Self

Creates bounded prismatic limits.

pub fn lower(self) -> CuJointPosition

Lower position bound (-pi sampling bound for continuous joints).

pub fn upper(self) -> CuJointPosition

Upper position bound (+pi sampling bound for continuous joints).

pub fn max_velocity(self) -> CuJointVelocity

Maximum absolute joint velocity.

pub fn validate(self, q: CuJointPosition) -> CuResult<()>

Checks that q has this joint’s unit kind and that the limits themselves are well formed.

pub fn contains(self, q: CuJointPosition) -> bool

Returns true if q is valid and inside the bounds (always inside for continuous joints).

pub fn clamp(self, q: CuJointPosition) -> CuResult<CuJointPosition>

Clamps q to the bounds (continuous joints are returned unchanged).

Trait Implementations

impl<'__de, __Context> BorrowDecode<'__de, __Context> for CuJointLimits

fn borrow_decode<__D: BorrowDecoder<'__de, Context = __Context>>( decoder: &mut __D, ) -> Result<Self, DecodeError>

Attempt to decode this type with the given BorrowDecode.

impl Clone for CuJointLimits

fn clone(&self) -> CuJointLimits

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for CuJointLimits

impl Debug for CuJointLimits

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

Formats the value using the given formatter.

impl<__Context> Decode<__Context> for CuJointLimits

fn decode<__D: Decoder<Context = __Context>>( decoder: &mut __D, ) -> Result<Self, DecodeError>

Attempt to decode this type with the given Decode.

impl Default for CuJointLimits

fn default() -> CuJointLimits

Returns the “default value” for a type.

impl<'de> Deserialize<'de> for CuJointLimits

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

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl Encode for CuJointLimits

fn encode<__E: Encoder>(&self, encoder: &mut __E) -> Result<(), EncodeError>

Encode a given type.

impl PartialEq for CuJointLimits

fn eq(&self, other: &CuJointLimits) -> bool

Equality operator ==.

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

Inequality operator !=.

impl Serialize for CuJointLimits

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

where __S: Serializer,

Serialize this value into the given Serde serializer.

impl StructuralPartialEq for CuJointLimits

impl TypePath for CuJointLimits

fn type_path() -> &'static str

fn short_type_path() -> &'static str

fn type_ident() -> Option<&'static str>

fn crate_name() -> Option<&'static str>

fn module_path() -> Option<&'static str>