Struct k::Link
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pub struct Link<T: Real> { pub name: String, pub joint: Joint<T>, pub transform: Isometry3<T>, pub world_transform_cache: RefCell<Option<Isometry3<T>>>, }
Joint and Link
Fields
name: String
joint: Joint<T>
joint instance
transform: Isometry3<T>
local transfrom of joint
world_transform_cache: RefCell<Option<Isometry3<T>>>
cache of world transform
Methods
impl<T> Link<T> where
T: Real,
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T: Real,
fn new(name: &str, joint: Joint<T>) -> Link<T>
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Construct a Link from name and joint instance
You can use LinkBuilder
fn joint_name(&self) -> &str
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Return the name of the joint
fn transform(&self) -> Isometry3<T>
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Updates and returns the transform of the end of the joint
fn set_joint_angle(&mut self, angle: T) -> Result<(), JointError>
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Set the angle of the joint
If angle is out of limit, it returns Err.
fn joint_angle(&self) -> Option<T>
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Get the angle of the joint. If it is fixed, it returns None.
fn has_joint_angle(&self) -> bool
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Returns if it has a joint angle. similar to is_not_fixed()
impl<T> Link<T> where
T: Real,
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T: Real,