Struct k::LinkStar

pub struct LinkStar<T: Real> {
    pub name: String,
    pub frames: Vec<VecKinematicChain<T>>,
    // some fields omitted
}

Robot representation with set of VecKinematicChains

This contains multiple VecKinematicChain. The frames must be serial without branch. root is the only link which has branch.

Fields

name: String

frames: Vec<VecKinematicChain<T>>

Methods

impl<T> LinkStar<T> where
    T: Real, 

fn new(name: &str, frames: Vec<VecKinematicChain<T>>) -> LinkStar<T>

fn set_transform(&mut self, transform: Isometry3<T>)

fn get_transform(&self) -> Isometry3<T>

Trait Implementations

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

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

Formats the value using the given formatter.

impl<T: Clone + Real> Clone for LinkStar<T>

fn clone(&self) -> LinkStar<T>

Returns a copy of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

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

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

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