Struct k::LinkChain
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[src]
pub struct LinkChain<T: Real> {
pub name: String,
pub links: Vec<LinkNode<T>>,
pub transform: Isometry3<T>,
// some fields omitted
}Kinematic chain using Rc<RefCell<LinkNode<T>>>
Fields
name: String
links: Vec<LinkNode<T>>
transform: Isometry3<T>
Methods
impl<T> LinkChain<T> where
T: Real, [src]
T: Real,
fn set_end_link_name(&mut self, name: &str) -> Result<(), String>[src]
fn end_link_name<'a>(&'a self) -> &'a Option<String>[src]
fn new(name: &str, end: &LinkNode<T>) -> Self[src]
fn add_mimic(&mut self, name: &str, mimic_info: Mimic<T>)[src]
fn mimics(&self) -> &HashMap<String, Mimic<T>>[src]
Trait Implementations
impl<T: Debug + Real> Debug for LinkChain<T>[src]
impl<T> KinematicChain<T> for LinkChain<T> where
T: Real, [src]
T: Real,
fn end_transform(&self) -> Isometry3<T>[src]
Calculate and return the transform of the end of the links
impl<T> LinkContainer<T> for LinkChain<T> where
T: Real, [src]
T: Real,
fn link_transforms(&self) -> Vec<Isometry3<T>>[src]
Calculate the transforms of all of the links
fn link_names(&self) -> Vec<String>[src]
Get the names of the links
impl<T> JointContainer<T> for LinkChain<T> where
T: Real, [src]
T: Real,
fn set_joint_angles(&mut self, angles: &[T]) -> Result<(), JointError>[src]
Set the angles of the joints Read more
fn joint_angles(&self) -> Vec<T>[src]
Get the angles of the joints
fn joint_limits(&self) -> Vec<Option<Range<T>>>[src]
Get the limits of the joints, if it exists.
fn joint_names(&self) -> Vec<String>[src]
skip fixed joint