Struct arcos_kdl::chains::Chain [−][src]
pub struct Chain { /* fields omitted */ }
Expand description
Implementation of kinematic chains
segments: a vector with the segments of the chain
num_joints: number of joints (segments with movable joints)
num_ind_joints: Number of joints with independent movement
num_unlocked_joints: Num of enabled/unlocked joints
locked_joints: vector with bools indicating if the joint is locked
coupling_matrix: matrix correlating the joints with their couples\
Implementations
Returns the total number of segments
Returns the number of segments with moveable joints
Returns the number of Independent moveable joints
Returns the coupling matrix
Add a new semgment at the end of the kinematic chain
(Where the end is where the end-effector would be)
Get the segment at the index-th position
Get the vector with lock information
Trait Implementations
fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error> where
__D: Deserializer<'de>,
fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error> where
__D: Deserializer<'de>,
Deserialize this value from the given Serde deserializer. Read more
Auto Trait Implementations
impl RefUnwindSafe for Chain
impl UnwindSafe for Chain
Blanket Implementations
Mutably borrows from an owned value. Read more
The inverse inclusion map: attempts to construct self
from the equivalent element of its
superset. Read more
pub fn is_in_subset(&self) -> bool
pub fn is_in_subset(&self) -> bool
Checks if self
is actually part of its subset T
(and can be converted to it).
pub fn to_subset_unchecked(&self) -> SS
pub fn to_subset_unchecked(&self) -> SS
Use with care! Same as self.to_subset
but without any property checks. Always succeeds.
pub fn from_subset(element: &SS) -> SP
pub fn from_subset(element: &SS) -> SP
The inclusion map: converts self
to the equivalent element of its superset.