Struct k::LinkTree
[−]
[src]
pub struct LinkTree<T: Real> { pub name: String, pub root_link: RcLinkNode<T>, // some fields omitted }
Kinematic Tree using Rc<RefCell<Link<T>>>
Fields
name: String
root_link: RcLinkNode<T>
Methods
impl<T: Real> LinkTree<T>[src]
fn new(name: &str, root_link: RcLinkNode<T>) -> Self
fn set_root_transform(&mut self, transform: Isometry3<T>)
fn calc_link_transforms(&self) -> Vec<Isometry3<T>>
fn iter(&self) -> Iter<RcLinkNode<T>>
fn iter_mut(&mut self) -> IterMut<RcLinkNode<T>>
fn iter_link<'a>(&'a self) -> NodeIter<'a, Link<T>>
fn iter_link_mut<'a>(&'a self) -> NodeIterMut<'a, Link<T>>
fn iter_for_joints<'a>(&'a self) -> Box<Iterator<Item = &RcLinkNode<T>> + 'a>
fn iter_for_joints_link<'a>(
&'a self
) -> Box<Iterator<Item = Ref<'a, Link<T>>> + 'a>
&'a self
) -> Box<Iterator<Item = Ref<'a, Link<T>>> + 'a>
fn get_joint_angles(&self) -> Vec<T>
get the angles of the joints
FixedJoint is ignored. the length is the same with dof()
fn set_joint_angles(&mut self, angles_vec: &[T]) -> Result<(), JointError>
set the angles of the joints
FixedJoints are ignored. the input number must be equal with dof()
fn get_joint_names(&self) -> Vec<String>
skip fixed joint
fn get_all_joint_names(&self) -> Vec<String>
include fixed joint
fn dof(&self) -> usize
get the degree of freedom