Struct k::RefKinematicChain
[−]
[src]
pub struct RefKinematicChain<T: Real> {
pub name: String,
pub links: Vec<RcLinkNode<T>>,
pub transform: Isometry3<T>,
// some fields omitted
}Kinematic chain using Rc<RefCell<LinkNode<T>>>
Fields
name: String
links: Vec<RcLinkNode<T>>
transform: Isometry3<T>
Methods
impl<T> RefKinematicChain<T> where
T: Real, [src]
T: Real,
fn set_end_link_name(&mut self, name: &str) -> Result<(), String>[src]
fn get_end_link_name<'a>(&'a self) -> &'a Option<String>[src]
fn new(name: &str, end: &RcLinkNode<T>) -> Self[src]
Trait Implementations
impl<T> KinematicChain<T> for RefKinematicChain<T> where
T: Real, [src]
T: Real,
fn calc_end_transform(&self) -> Isometry3<T>[src]
impl<T> LinkContainer<T> for RefKinematicChain<T> where
T: Real, [src]
T: Real,
fn calc_link_transforms(&self) -> Vec<Isometry3<T>>[src]
fn get_link_names(&self) -> Vec<String>[src]
impl<T> JointContainer<T> for RefKinematicChain<T> where
T: Real, [src]
T: Real,
fn set_joint_angles(&mut self, angles: &[T]) -> Result<(), JointError>[src]
fn get_joint_angles(&self) -> Vec<T>[src]
fn get_joint_limits(&self) -> Vec<Option<Range<T>>>[src]
fn get_joint_names(&self) -> Vec<String>[src]
skip fixed joint