Struct JointKind 

pub struct JointKind {
    pub joint: Joint,
    pub limits: [Limits; 4],
}

How a joint lets its second body move against its first: which joint of the table it is (Joint), and the limits of its coordinates. Serializes flat, the limits of only those limited, by name: {"type": "revolute", "limits": {"angle": {"min": -90.0, "max": 90.0}}}.

Fields

joint: Joint

limits: [Limits; 4]

The limits of each coordinate, by Motion::index.

Implementations

impl JointKind

pub const fn new(joint: Joint) -> Self

The joint joint, unlimited.

pub fn limited(self, motion: Motion, limits: Limits) -> Self

It with the coordinate of motion kept within limits.

pub fn turning(&self) -> Turning

How it lets the second frame turn (see Joint::frees).

pub fn moves(&self, motion: Motion) -> bool

Whether it frees motion, as a coordinate.

pub fn motions(&self) -> Vec<Motion>

The motions it frees as coordinates.

pub fn limits(&self, motion: Motion) -> [Option<Scalar>; 2]

The limits of motion’s coordinate, [min, max], either missing.

pub fn label(&self) -> &'static str

pub fn validate(&self) -> GeopResult<()>

Checks it limits only coordinates it frees, and each the right way round.

Trait Implementations

impl Clone for JointKind

fn clone(&self) -> JointKind

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for JointKind

impl Debug for JointKind

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

Formats the value using the given formatter.

impl<'de> Deserialize<'de> for JointKind

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

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl PartialEq for JointKind

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

Equality operator ==.

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

Inequality operator !=.

impl Serialize for JointKind

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 JointKind