Enum CuJointPosition 

pub enum CuJointPosition {
    Revolute(Angle),
    Prismatic(Length),
    Fixed,
}

A joint coordinate carries the physical unit of its joint.

Variants

Revolute(Angle)

Prismatic(Length)

Fixed

Implementations

impl CuJointPosition

pub fn angle(self) -> CuResult<Angle>

Extracts an angle, rejecting linear and fixed coordinates.

pub fn displacement(self) -> CuResult<Length>

Extracts a displacement, rejecting angular and fixed coordinates.

pub fn si_value(self) -> f64

Returns the coordinate in SI base units (radians or meters; 0.0 for fixed joints).

Intended for numerical kernels that operate on dimensionless arrays; convert back with Self::with_si_value so the unit tag is never lost.

pub fn with_si_value(self, value: f64) -> Self

Returns a coordinate of the same joint kind holding value in SI base units (radians or meters). Fixed coordinates stay fixed.

pub fn interpolate(self, other: Self, fraction: f64) -> CuResult<Self>

Interpolates between coordinates of the same joint type.

Trait Implementations

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

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 CuJointPosition

fn clone(&self) -> CuJointPosition

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for CuJointPosition

impl Debug for CuJointPosition

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

Formats the value using the given formatter.

impl<__Context> Decode<__Context> for CuJointPosition

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

Attempt to decode this type with the given Decode.

impl Default for CuJointPosition

fn default() -> Self

Returns the “default value” for a type.

impl<'de> Deserialize<'de> for CuJointPosition

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

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl Encode for CuJointPosition

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

Encode a given type.

impl From<Angle> for CuJointPosition

fn from(value: Angle) -> Self

Converts to this type from the input type.

impl From<Length> for CuJointPosition

fn from(value: Length) -> Self

Converts to this type from the input type.

impl PartialEq for CuJointPosition

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

Equality operator ==.

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

Inequality operator !=.

impl Serialize for CuJointPosition

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 CuJointPosition

impl TypePath for CuJointPosition

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>