Struct CouplingKind 

pub struct CouplingKind {
    pub transmission: Transmission,
    pub value: Scalar,
    pub reverse: bool,
    pub offset: Option<Scalar>,
}

How a coupling ties its two joints’ coordinates: the second’s is the first’s times a factor — given by value as the transmission says, negated if reverse — plus offset, in the second’s units, degrees for an angle. Serializes flat: {"type": "gear", "value": 2.0, "reverse": true}.

Fields

transmission: Transmission

value: Scalar

reverse: bool

offset: Option<Scalar>

Implementations

impl CouplingKind

pub fn new(transmission: Transmission, value: Scalar, reverse: bool) -> Self

A coupling of transmission by value, turning the way that transmission does unless reverse, at no offset.

pub fn factor(&self) -> GeopResult<Scalar>

The second coordinate per radian or unit of length of the first, both in natural units — radians and lengths.

pub fn validate(&self, same: bool, frees: [bool; 2]) -> GeopResult<()>

Checks it can tie the motions of one joint and another — same whether they are the one joint — that the joints free: frees saying whether a joint does.

pub fn residual(&self, a: D, b: D, scale: D) -> GeopResult<D>

The residual between the coordinates a and b of its two joints — in their own units, degrees for an angle: the second less the first times the factor and the offset, in natural units, as a length — an angle’s turned into one by the part’s size scale.

Trait Implementations

impl Clone for CouplingKind

fn clone(&self) -> CouplingKind

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for CouplingKind

impl Debug for CouplingKind

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

Formats the value using the given formatter.

impl<'de> Deserialize<'de> for CouplingKind

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

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl PartialEq for CouplingKind

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

Equality operator ==.

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

Inequality operator !=.

impl Serialize for CouplingKind

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 CouplingKind