diff options
Diffstat (limited to 'src/dynamics/joint')
| -rw-r--r-- | src/dynamics/joint/multibody_joint/multibody.rs | 6 |
1 files changed, 4 insertions, 2 deletions
diff --git a/src/dynamics/joint/multibody_joint/multibody.rs b/src/dynamics/joint/multibody_joint/multibody.rs index 7832abe..6859fd9 100644 --- a/src/dynamics/joint/multibody_joint/multibody.rs +++ b/src/dynamics/joint/multibody_joint/multibody.rs @@ -13,6 +13,9 @@ use na::{ StorageMut, LU, }; +#[cfg(doc)] +use crate::prelude::{GenericJoint, RigidBody}; + #[repr(C)] #[derive(Copy, Clone, Debug, Default)] struct Force { @@ -861,8 +864,7 @@ impl Multibody { /// Apply displacements, in generalized coordinates, to this multibody. /// /// Note this does **not** updates the link poses, only their generalized coordinates. - /// To update the link poses and associated rigid-bodies, call [`Self::forward_kinematics`] - /// or [`Self::finalize`]. + /// To update the link poses and associated rigid-bodies, call [`Self::forward_kinematics`]. pub fn apply_displacements(&mut self, disp: &[Real]) { for link in self.links.iter_mut() { link.joint.apply_displacement(&disp[link.assembly_id..]) |