Struct k::LinkTree
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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>
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fn new(name: &str, root_link: RcLinkNode<T>) -> Self
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fn set_root_transform(&mut self, transform: Isometry3<T>)
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fn iter(&self) -> Iter<RcLinkNode<T>>
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fn iter_mut(&mut self) -> IterMut<RcLinkNode<T>>
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fn iter_link<'a>(&'a self) -> NodeIter<'a, Link<T>>
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fn iter_link_mut<'a>(&'a self) -> NodeIterMut<'a, Link<T>>
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fn iter_for_joints<'a>(&'a self) -> Box<Iterator<Item = &RcLinkNode<T>> + 'a>
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fn iter_for_joints_link<'a>(
&'a self
) -> Box<Iterator<Item = Ref<'a, Link<T>>> + 'a>
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&'a self
) -> Box<Iterator<Item = Ref<'a, Link<T>>> + 'a>
fn get_all_joint_names(&self) -> Vec<String>
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include fixed joint
fn dof(&self) -> usize
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get the degree of freedom
Trait Implementations
impl<T> JointContainer<T> for LinkTree<T> where
T: Real,
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T: Real,
fn get_joint_angles(&self) -> Vec<T>
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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>
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set the angles of the joints
FixedJoints
are ignored. the input number must be equal with dof()
fn get_joint_limits(&self) -> Vec<Option<Range<T>>>
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fn get_joint_names(&self) -> Vec<String>
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impl<T> LinkContainer<T> for LinkTree<T> where
T: Real,
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T: Real,