Struct k::node::JointRefGuard

pub struct JointRefGuard<'a, T>
where
    T: RealField,
{ /* private fields */ }

Methods from Deref<Target = Joint<T>>

pub fn joint_position(&self) -> Option<T>

Returns the position (angle)

pub fn origin(&self) -> &Isometry3<T>

pub fn joint_velocity(&self) -> Option<T>

Returns the velocity

pub fn local_transform(&self) -> Isometry3<T>

Calculate and returns the transform of the end of this joint

Examples

use nalgebra as na;

// Create linear joint with X-axis
let mut lin = k::Joint::<f64>::new("l0", k::JointType::Linear { axis: na::Vector3::x_axis() });
assert_eq!(lin.local_transform().translation.vector.x, 0.0);
lin.set_joint_position(-1.0).unwrap();
assert_eq!(lin.local_transform().translation.vector.x, -1.0);

pub fn world_transform(&self) -> Option<Isometry3<T>>

Get the result of forward kinematics

The value is updated by Chain::update_transforms

pub fn world_velocity(&self) -> Option<Velocity<T>>

pub fn is_movable(&self) -> bool

pub fn clear_caches(&self)

Clear caches defined in the world coordinate

Trait Implementations

impl<'a, T> Debug for JointRefGuard<'a, T>

where T: RealField + Debug,

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

Formats the value using the given formatter.

impl<T> Deref for JointRefGuard<'_, T>

where T: RealField,

type Target = Joint<T>

The resulting type after dereferencing.

fn deref(&self) -> &Self::Target

Dereferences the value.