Struct k::LinkTree

pub struct LinkTree<T: Real> {
    pub name: String,
    pub root_link: LinkNode<T>,
    // some fields omitted
}

Kinematic Tree using Rc<RefCell<Link<T>>>

Fields

name: String

root_link: LinkNode<T>

Methods

impl<T: Real> LinkTree<T>

fn new(name: &str, root_link: LinkNode<T>) -> Self

Create LinkTree from root link

Arguments

• root_link - root node of the links

fn add_mimic(&mut self, name: &str, mimic_info: Mimic<T>)

fn mimics(&self) -> &HashMap<String, Mimic<T>>

fn iter(&self) -> Iter<LinkNode<T>>

iter for all link nodes

fn iter_mut(&mut self) -> IterMut<LinkNode<T>>

iter for all link nodes as mut

fn iter_link<'a>(&'a self) -> NodeIter<'a, Link<T>>

iter for all links, not as node

fn iter_link_mut<'a>(&'a self) -> NodeIterMut<'a, Link<T>>

iter for all links as mut, not as node

fn iter_joints<'a>(&'a self) -> Box<Iterator<Item = &LinkNode<T>> + 'a>

iter for the links with the joint which is not fixed

fn iter_joints_link<'a>(&'a self) -> Box<Iterator<Item = Ref<'a, Link<T>>> + 'a>

iter for the links with the joint which is not fixed

fn dof(&self) -> usize

Get the degree of freedom

Trait Implementations

impl<T: Debug + Real> Debug for LinkTree<T>

fn fmt(&self, __arg_0: &mut Formatter) -> Result

Formats the value using the given formatter.

impl<T> JointContainer<T> for LinkTree<T> where
    T: Real, 

fn 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 joint_limits(&self) -> Vec<Option<Range<T>>>

Get the limits of the joints, if it exists.

fn joint_names(&self) -> Vec<String>

Get the all names of the joints

impl<T> LinkContainer<T> for LinkTree<T> where
    T: Real, 

fn link_transforms(&self) -> Vec<Isometry3<T>>

Calculate the transforms of all of the links

fn link_names(&self) -> Vec<String>

Get the names of the links

impl<T> ChainContainer for LinkTree<T> where
    T: Real, 

type Chain = LinkChain<T>

fn new_chain(&self, end_link_name: &str) -> Option<Self::Chain>

Create LinkChain from LinkTree and the name of the end link

impl<T> FromUrdf for LinkTree<T> where
    T: Real, 

fn from_urdf_robot(robot: &Robot) -> Self

Create LinkTree from urdf_rs::Robot

fn from_urdf_file<T, P>(path: P) -> Result<Self, UrdfError> where
    Self: Sized,
    P: AsRef<Path>,