Struct CuJointSpec 

pub struct CuJointSpec {
    pub joint_type: CuJointType,
    pub origin_translation: [Length; 3],
    pub origin_rpy: [Angle; 3],
    pub axis: CuJointAxis,
    pub limits: CuJointLimits,
}

Static kinematic specification of a single joint following URDF conventions.

Fields

joint_type: CuJointType

Actuation mechanism.

origin_translation: [Length; 3]

Parent-to-joint translation (URDF origin xyz).

origin_rpy: [Angle; 3]

Parent-to-joint roll-pitch-yaw (URDF origin rpy).

axis: CuJointAxis

Actuation axis in the joint frame.

limits: CuJointLimits

Position and velocity bounds.

Implementations

impl CuJointSpec

pub const fn revolute( origin_translation: [Length64; 3], origin_rpy: [Angle64; 3], axis: CuJointAxis, limits: CuJointLimits, ) -> Self

Creates a revolute joint from its parent-frame origin (URDF xyz, rpy).

pub const fn prismatic( origin_translation: [Length64; 3], origin_rpy: [Angle64; 3], axis: CuJointAxis, limits: CuJointLimits, ) -> Self

Creates a prismatic joint from its parent-frame origin (URDF xyz, rpy).

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

Checks coordinate units and validity of joint specifications before numerical work.

pub fn origin_transform(&self) -> Transform3D<f64>

Computes the static parent-to-joint origin transform.

pub fn motion_transform(&self, q: CuJointPosition) -> CuResult<Transform3D<f64>>

Computes the local motion transform for joint displacement q.

Trait Implementations

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

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 CuJointSpec

fn clone(&self) -> CuJointSpec

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for CuJointSpec

impl Debug for CuJointSpec

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

Formats the value using the given formatter.

impl<__Context> Decode<__Context> for CuJointSpec

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

Attempt to decode this type with the given Decode.

impl Default for CuJointSpec

fn default() -> CuJointSpec

Returns the “default value” for a type.

impl<'de> Deserialize<'de> for CuJointSpec

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

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl Encode for CuJointSpec

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

Encode a given type.

impl PartialEq for CuJointSpec

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

Equality operator ==.

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

Inequality operator !=.

impl Serialize for CuJointSpec

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 CuJointSpec

impl TypePath for CuJointSpec

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>