Struct CuJointMetric 

pub struct CuJointMetric {
    pub angular_scale: Angle,
    pub linear_scale: Length,
}

Physical scaling used to compare angular and linear coordinates without mixing units.

Fields

angular_scale: Angle

linear_scale: Length

Implementations

impl CuJointMetric

pub fn validate(self) -> CuResult<()>

Checks that both scales are positive and finite.

pub fn normalized(self, q: CuJointPosition) -> f64

Returns a dimensionless joint coordinate for numerical algorithms.

pub fn scale(self, q: CuJointPosition) -> f64

Returns the SI scale (radians or meters) that normalizes coordinates of q’s joint kind; 1.0 for fixed joints.

Trait Implementations

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

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 CuJointMetric

fn clone(&self) -> CuJointMetric

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for CuJointMetric

impl Debug for CuJointMetric

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

Formats the value using the given formatter.

impl<__Context> Decode<__Context> for CuJointMetric

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

Attempt to decode this type with the given Decode.

impl Default for CuJointMetric

fn default() -> Self

Returns the “default value” for a type.

impl<'de> Deserialize<'de> for CuJointMetric

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

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl Encode for CuJointMetric

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

Encode a given type.

impl PartialEq for CuJointMetric

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

Equality operator ==.

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

Inequality operator !=.

impl Serialize for CuJointMetric

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 CuJointMetric

impl TypePath for CuJointMetric

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>