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 mimic another joint.
pub trait MimicAllowed {}

/// A type to significy that no [`Mimic`](joint_data::MimicData) was specified.
#[derive(Debug, Default, Clone)]
pub struct NoMimic;
impl smart_joint_datatraits::MimicDataType for NoMimic {}

//  (optional) (New with ROS Groovy. See issue)
//
// This tag is used to specify that the defined joint mimics another existing joint. The value of this joint can be computed as value = multiplier * other_joint_value + offset.
// TODO: Write better docs
#[derive(Debug, Default, Clone)]
pub struct WithMimic {
	/// This specifies the name of the joint to mimic.
	joint_name: String,
	/// Specifies the multiplicative factor in the formula above.
	multiplier: Option<f32>,
	/// Specifies the offset to add in the formula above. Defaults to 0 (radians for revolute joints, meters for prismatic joints).
	offset: Option<f32>,
}

impl From<WithMimic> for joint_data::MimicBuilderData {
	fn from(value: WithMimic) -> Self {
		Self {
			joint_name: value.joint_name,
			multiplier: value.multiplier,
			offset: value.offset,
		}
	}
}

impl smart_joint_datatraits::MimicDataType for WithMimic {
	fn simplify(&self, joint_builder: &mut JointBuilder) {
		joint_builder.with_mimic_data(self.clone().into())
	}
}

impl<Type, Axis, Calibration, Dynamics, Limit, SafetyController>
	SmartJointBuilder<Type, Axis, Calibration, Dynamics, Limit, NoMimic, SafetyController>
where
	Type: MimicAllowed,
	Axis: smart_joint_datatraits::AxisDataType,
	Calibration: smart_joint_datatraits::CalibrationDataType,
	Dynamics: smart_joint_datatraits::DynamicsDataType,
	Limit: smart_joint_datatraits::LimitDataType,
	SafetyController: smart_joint_datatraits::SafetyControllerDataType,
{
	pub fn with_mimic(
		self,
		mimiced_joint_name: impl Into<String>,
	) -> SmartJointBuilder<Type, Axis, Calibration, Dynamics, Limit, WithMimic, SafetyController> {
		SmartJointBuilder {
			name: self.name,
			joint_type: self.joint_type,
			transform: self.transform,

			axis: self.axis,
			calibration: self.calibration,
			dynamics: self.dynamics,
			limit: self.limit,
			mimic: WithMimic {
				joint_name: mimiced_joint_name.into(),
				..Default::default()
			},
			safety_controller: self.safety_controller,
		}
	}
}

impl<Type, Axis, Calibration, Dynamics, Limit, SafetyController>
	SmartJointBuilder<Type, Axis, Calibration, Dynamics, Limit, WithMimic, SafetyController>
where
	Type: MimicAllowed,
	Axis: smart_joint_datatraits::AxisDataType,
	Calibration: smart_joint_datatraits::CalibrationDataType,
	Dynamics: smart_joint_datatraits::DynamicsDataType,
	Limit: smart_joint_datatraits::LimitDataType,
	SafetyController: smart_joint_datatraits::SafetyControllerDataType,
{
	pub fn set_mimiced_joint_name(mut self, mimiced_joint_name: impl Into<String>) -> Self {
		self.mimic.joint_name = mimiced_joint_name.into();
		self
	}

	pub fn mimiced_joint_name(&self) -> &String {
		&self.mimic.joint_name
	}

	pub fn set_mimic_multiplier(mut self, multiplier: f32) -> Self {
		self.mimic.multiplier = Some(multiplier);
		self
	}

	pub fn mimic_multiplier(&self) -> Option<f32> {
		self.mimic.multiplier
	}

	/// Specifies the offset to add in the formula above. Defaults to 0 (radians for revolute joints, meters for prismatic joints).
	pub fn set_mimic_offset(mut self, offset: f32) -> Self {
		self.mimic.offset = Some(offset);
		self
	}

	pub fn mimic_offset(&self) -> Option<f32> {
		self.mimic.offset
	}
}