robot-description-builder 0.0.3

A libary to create (valid) Robot descriptions
Documentation 
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use crate::joint::{
	joint_data,
	jointbuilder::JointBuilder,
	smartjointbuilder::{smart_joint_datatraits, SmartJointBuilder},
};

/// A trait to label a `SmartJointType` that is allowed to have a dynamics data.
pub trait DynamicsAllowed {}

/// A type to significy that no [`Dynamics`](joint_data::DynamicsData) was specified.
#[derive(Debug, Default, Clone)]
pub struct NoDynamics;
impl smart_joint_datatraits::DynamicsDataType for NoDynamics {}

#[derive(Debug, Default, Clone)]
pub struct WithDynamics {
	damping: Option<f32>,
	friction: Option<f32>,
}

impl From<WithDynamics> for joint_data::DynamicsData {
	fn from(value: WithDynamics) -> Self {
		Self {
			damping: value.damping,
			friction: value.friction,
		}
	}
}

impl smart_joint_datatraits::DynamicsDataType for WithDynamics {
	fn simplify(&self, joint_builder: &mut JointBuilder) {
		joint_builder.with_dynamics_data(self.clone().into());
	}
}

impl<Type, Axis, Calibration, Limit, Mimic, SafetyController>
	SmartJointBuilder<Type, Axis, Calibration, NoDynamics, Limit, Mimic, SafetyController>
where
	Type: DynamicsAllowed,
	Axis: smart_joint_datatraits::AxisDataType,
	Calibration: smart_joint_datatraits::CalibrationDataType,
	Limit: smart_joint_datatraits::LimitDataType,
	Mimic: smart_joint_datatraits::MimicDataType,
	SafetyController: smart_joint_datatraits::SafetyControllerDataType,
{
	pub fn with_dynamics(
		self,
	) -> SmartJointBuilder<Type, Axis, Calibration, WithDynamics, Limit, Mimic, SafetyController> {
		SmartJointBuilder {
			name: self.name,
			joint_type: self.joint_type,
			transform: self.transform,
			axis: self.axis,
			calibration: self.calibration,
			dynamics: WithDynamics::default(),
			limit: self.limit,
			mimic: self.mimic,
			safety_controller: self.safety_controller,
		}
	}
}

impl<Type, Axis, Calibration, Limit, Mimic, SafetyController>
	SmartJointBuilder<Type, Axis, Calibration, WithDynamics, Limit, Mimic, SafetyController>
where
	Type: DynamicsAllowed,
	Axis: smart_joint_datatraits::AxisDataType,
	Calibration: smart_joint_datatraits::CalibrationDataType,
	Limit: smart_joint_datatraits::LimitDataType,
	Mimic: smart_joint_datatraits::MimicDataType,
	SafetyController: smart_joint_datatraits::SafetyControllerDataType,
{
	pub fn set_damping(mut self, damping: f32) -> Self {
		self.dynamics.damping = Some(damping);
		self
	}

	pub fn damping(&self) -> Option<f32> {
		self.dynamics.damping
	}

	pub fn set_friction(mut self, friction: f32) -> Self {
		self.dynamics.friction = Some(friction);
		self
	}

	pub fn friction(&self) -> Option<f32> {
		self.dynamics.friction
	}
}