Struct k::LinkTree
[−]
[src]
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>[src]
fn new(name: &str, root_link: RcLinkNode<T>) -> Self[src]
fn set_root_transform(&mut self, transform: Isometry3<T>)[src]
fn iter(&self) -> Iter<RcLinkNode<T>>[src]
fn iter_mut(&mut self) -> IterMut<RcLinkNode<T>>[src]
fn iter_link<'a>(&'a self) -> NodeIter<'a, Link<T>>[src]
fn iter_link_mut<'a>(&'a self) -> NodeIterMut<'a, Link<T>>[src]
fn iter_for_joints<'a>(&'a self) -> Box<Iterator<Item = &RcLinkNode<T>> + 'a>[src]
fn iter_for_joints_link<'a>(
&'a self
) -> Box<Iterator<Item = Ref<'a, Link<T>>> + 'a>[src]
&'a self
) -> Box<Iterator<Item = Ref<'a, Link<T>>> + 'a>
fn get_all_joint_names(&self) -> Vec<String>[src]
include fixed joint
fn dof(&self) -> usize[src]
get the degree of freedom
Trait Implementations
impl<T> JointContainer<T> for LinkTree<T> where
T: Real, [src]
T: Real,
fn get_joint_angles(&self) -> Vec<T>[src]
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>[src]
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>>>[src]
fn get_joint_names(&self) -> Vec<String>[src]
impl<T> LinkContainer<T> for LinkTree<T> where
T: Real, [src]
T: Real,