Struct robot_description_builder::KinematicTree

pub struct KinematicTree(_);

Implementations

impl KinematicTree

pub fn to_robot(self, name: impl Into<String>) -> Robot

Trait Implementations

impl Clone for KinematicTree

fn clone(&self) -> Self

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for KinematicTree

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl<T: BuildLink> From<T> for KinematicTree

fn from(value: T) -> Self

Converts to this type from the input type.

impl KinematicInterface for KinematicTree

fn get_root_link(&self) -> Arc<RwLock<Link>>

Returns the root link of the Kinematic Tree

fn get_newest_link(&self) -> Arc<RwLock<Link>>

Returns the newest link of the Kinematic Tree

fn get_links(&self) -> Arc<RwLock<HashMap<String, Weak<RwLock<Link>>>>>

fn get_joints(&self) -> Arc<RwLock<HashMap<String, Weak<RwLock<Joint>>>>>

fn get_materials( &self ) -> Arc<RwLock<HashMap<String, Arc<RwLock<MaterialData>>>>>

FIXME: This not Ok end-user should not interact wiht MaterialData

fn get_transmissions( &self ) -> Arc<RwLock<HashMap<String, Arc<RwLock<Transmission>>>>>

fn get_link(&self, name: &str) -> Option<Arc<RwLock<Link>>>

fn get_joint(&self, name: &str) -> Option<Arc<RwLock<Joint>>>

fn get_material(&self, name: &str) -> Option<Material>

fn get_transmission(&self, name: &str) -> Option<Arc<RwLock<Transmission>>>

fn try_add_transmission( &self, transmission: TransmissionBuilder<WithJoints, WithActuator> ) -> Result<(), AddTransmissionError>

TODO: NOT FINAL TODO: Maybe remove rcrefcell from transmission parameter

fn purge_links( &self ) -> Result<(), PoisonError<RwLockWriteGuard<'_, HashMap<String, Weak<RwLock<Link>>>>>>

Cleans up orphaned/broken Link entries from the links HashMap.

fn purge_joints( &self ) -> Result<(), PoisonError<RwLockWriteGuard<'_, HashMap<String, Weak<RwLock<Joint>>>>>>

Cleans up orphaned/broken Joint entries from the joints HashMap.

fn purge_materials( &self ) -> Result<(), PoisonError<RwLockWriteGuard<'_, HashMap<String, Arc<RwLock<MaterialData>>>>>>

Cleans up orphaned/unused Material entries from material_index HashMap

fn purge_transmissions( &self ) -> Result<(), PoisonError<RwLockWriteGuard<'_, HashMap<String, Arc<RwLock<Transmission>>>>>>

Cleans up orphaned/broken Transmission entries from the transmissions HashMap

fn yank_link(&self, name: &str) -> Option<Chained<LinkBuilder>>

TODO: DOCS

fn yank_root(self) -> Chained<LinkBuilder>

Cosumes the KinematicInterface implementor and creates a Chained<LinkBuilder> to rebuild it.

fn yank_joint(&self, name: &str) -> Option<Chained<JointBuilder>>