Struct PusherSliderParams 

pub struct PusherSliderParams {
    pub half_extent: f64,
    pub char_len: f64,
    pub pusher_friction: f64,
}

Quasi-static pusher-slider parameters.

Fields

half_extent: f64

Half side length of the square slider [m].

char_len: f64

Limit-surface characteristic length c [m] (couples force to torque).

pusher_friction: f64

Coulomb friction coefficient between pusher and slider.

Implementations

impl PusherSliderParams

pub fn new( half_extent: f64, char_len: f64, pusher_friction: f64, ) -> RoboticsResult<Self>

pub fn step( self, state: SliderState, command: PusherCommand, dt: f64, ) -> (SliderState, ContactMode)

Advance the slider one quasi-static step, returning the new state and the realized contact mode.

pub fn contact_point( self, state: SliderState, command: PusherCommand, ) -> [f64; 2]

World-frame contact point for a command (useful for rendering).

pub fn two_contact_twist( self, c1: PusherCommand, c2: PusherCommand, ) -> ([f64; 3], [ContactMode; 2])

Body-frame slider twist [vx, vy, omega] and per-contact modes for two simultaneous point contacts, solved contact-implicitly.

Each contact maintains its commanded normal speed; its tangential degree of freedom is either sticking (tangential contact-point velocity matches the pusher) or sliding (the tangential force saturates the friction cone). The realized regime is found by enumerating the per-contact stick/slide modes, solving the resulting 4x4 contact-force system, and keeping the first combination whose forces are pushing (fn >= 0), respect the friction cone (stick) or sit on the correct cone edge with a consistent slip direction (slide).

pub fn two_contact_step( self, state: SliderState, c1: PusherCommand, c2: PusherCommand, dt: f64, ) -> (SliderState, [ContactMode; 2])

Advance the slider one quasi-static step under two simultaneous contacts.

Trait Implementations

impl Clone for PusherSliderParams

fn clone(&self) -> PusherSliderParams

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for PusherSliderParams

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

Formats the value using the given formatter.

impl Default for PusherSliderParams

fn default() -> Self

Returns the “default value” for a type.

impl PartialEq for PusherSliderParams

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

Tests for self and other values to be equal, and is used by ==.

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

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl Copy for PusherSliderParams

impl StructuralPartialEq for PusherSliderParams