Struct nphysics3d::joint::RevoluteJoint

pub struct RevoluteJoint<N: RealField> { /* fields omitted */ }

A unit joint that allows only one relative rotational degree of freedom between two multibody links.

Methods

impl<N: RealField> RevoluteJoint<N>

pub fn new(axis: Unit<AngularVector<N>>, angle: N) -> Self

Create a new revolute joint with an axis and an initial angle.

The axis along which the rotation can happen is expressed in the local coordinate system of the attached multibody links.

pub fn axis(&self) -> Unit<AngularVector<N>>

The axis of the rotational degree of freedom.

pub fn angle(&self) -> N

The angle of rotation.

pub fn rotation(&self) -> &Rotation<N>

The rotation from an attached multibody link to its dependent.

pub fn local_jacobian(&self) -> &Velocity<N>

The jacobian of this joint expressed in the local coordinate frame of the joint.

pub fn local_jacobian_dot(&self) -> &Velocity<N>

The time-derivative of the jacobian of this joint expressed in the local coordinate frame of the joint.

pub fn local_jacobian_dot_veldiff(&self) -> &Velocity<N>

The velocity-derivative of the time-derivative of the jacobian of this joint expressed in the local coordinate frame of the joint.

pub fn min_angle(&self) -> Option<N>

The lower limit of the rotation angle.

pub fn max_angle(&self) -> Option<N>

The upper limit of the rotation angle.

pub fn disable_min_angle(&mut self)

Disable the lower limit of the rotation angle.

pub fn disable_max_angle(&mut self)

Disable the upper limit of the rotation angle.

pub fn enable_min_angle(&mut self, limit: N)

Enable and set the lower limit of the rotation angle.

pub fn enable_max_angle(&mut self, limit: N)

Enable and set the upper limit of the rotation angle.

pub fn is_angular_motor_enabled(&self) -> bool

Return true if the angular motor of this joint is enabled.

pub fn enable_angular_motor(&mut self)

Enable the angular motor of this joint.

pub fn disable_angular_motor(&mut self)

Disable the angular motor of this joint.

pub fn desired_angular_motor_velocity(&self) -> N

The desired angular velocity of the joint motor.

pub fn set_desired_angular_motor_velocity(&mut self, vel: N)

Set the desired angular velocity of the joint motor.

pub fn max_angular_motor_torque(&self) -> N

The maximum torque that can be delivered by the joint motor.

pub fn set_max_angular_motor_torque(&mut self, torque: N)

Set the maximum torque that can be delivered by the joint motor.

Trait Implementations

impl<N: Clone + RealField> Clone for RevoluteJoint<N>

fn clone(&self) -> RevoluteJoint<N>

Returns a copy of the value.

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

Performs copy-assignment from source.

impl<N: Copy + RealField> Copy for RevoluteJoint<N>

impl<N: Debug + RealField> Debug for RevoluteJoint<N>

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

Formats the value using the given formatter.

impl<N: RealField> Joint<N> for RevoluteJoint<N>

fn ndofs(&self) -> usize

The number of degrees of freedom allowed by the joint.

fn body_to_parent(
    &self,
    parent_shift: &Vector<N>,
    body_shift: &Vector<N>
) -> Isometry<N>

The position of the multibody link containing this joint relative to its parent.

fn update_jacobians(&mut self, body_shift: &Vector<N>, vels: &[N])

Update the jacobians of this joint.

fn jacobian(&self, transform: &Isometry<N>, out: &mut JacobianSliceMut<N>)

Sets in out the non-zero entries of the joint jacobian transformed by transform.

fn jacobian_dot(&self, transform: &Isometry<N>, out: &mut JacobianSliceMut<N>)

Sets in out the non-zero entries of the time-derivative of the joint jacobian transformed by transform.

fn jacobian_dot_veldiff_mul_coordinates(
    &self,
    transform: &Isometry<N>,
    acc: &[N],
    out: &mut JacobianSliceMut<N>
)

Sets in out the non-zero entries of the velocity-derivative of the time-derivative of the joint jacobian transformed by transform.

fn integrate(&mut self, parameters: &IntegrationParameters<N>, vels: &[N])

Integrate the position of this joint.

fn default_damping(&self, out: &mut DVectorSliceMut<N>)

Fill out with the non-zero entries of a damping that can be applied by default to ensure a good stability of the joint.

fn apply_displacement(&mut self, disp: &[N])

Apply a displacement to the joint.

fn jacobian_mul_coordinates(&self, acc: &[N]) -> Velocity<N>

Multiply the joint jacobian by generalized velocities to obtain the relative velocity of the multibody link containing this joint.

fn jacobian_dot_mul_coordinates(&self, acc: &[N]) -> Velocity<N>

Multiply the joint jacobian by generalized accelerations to obtain the relative acceleration of the multibody link containing this joint.

fn clone(&self) -> Box<dyn Joint<N>>

fn num_velocity_constraints(&self) -> usize

Maximum number of velocity constrains that can be generated by this joint.

fn velocity_constraints(
    &self,
    parameters: &IntegrationParameters<N>,
    multibody: &Multibody<N>,
    link: &MultibodyLink<N>,
    assembly_id: usize,
    dof_id: usize,
    ext_vels: &[N],
    ground_j_id: &mut usize,
    jacobians: &mut [N],
    constraints: &mut ConstraintSet<N, (), (), usize>
)

Initialize and generate velocity constraints to enforce, e.g., joint limits and motors.

fn num_position_constraints(&self) -> usize

The maximum number of non-linear position constraints that can be generated by this joint.

fn position_constraint(
    &self,
    _: usize,
    multibody: &Multibody<N>,
    link: &MultibodyLink<N>,
    handle: BodyPartHandle<()>,
    dof_id: usize,
    jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N, ()>>

Initialize and generate the i-th position constraints to enforce, e.g., joint limits.

fn nimpulses(&self) -> usize

The maximum number of impulses needed by this joints for its constraints.

impl<N: RealField> UnitJoint<N> for RevoluteJoint<N>

fn position(&self) -> N

The generalized coordinate of the unit joint.

fn motor(&self) -> &JointMotor<N, N>

The motor applied to the degree of freedom of the unit joitn.

fn min_position(&self) -> Option<N>

The lower limit, if any, set to the generalized coordinate of this unit joint.

fn max_position(&self) -> Option<N>

The upper limit, if any, set to the generalized coordinate of this unit joint.