Struct rubullet::MultiBodyOptions[−][src]

pub struct MultiBodyOptions {
    pub base_mass: f64,
    pub base_pose: Isometry3<f64>,
    pub base_inertial_frame_pose: Isometry3<f64>,
    pub link_masses: Vec<f64>,
    pub link_collision_shapes: Vec<CollisionId>,
    pub link_visual_shapes: Vec<VisualId>,
    pub link_poses: Vec<Isometry3<f64>>,
    pub link_inertial_frame_poses: Vec<Isometry3<f64>>,
    pub link_parent_indices: Vec<i32>,
    pub link_joint_types: Vec<JointType>,
    pub link_joint_axis: Vec<Vector3<f64>>,
    pub use_maximal_coordinates: bool,
    pub flags: Option<LoadModelFlags>,
}

Specifies all options for create_multi_body. Most of the the time you are probably fine using MultiBodyOptions::default() or just setting the base_pose and/or mass

Fields

base_mass: f64

mass of the base, in kg (if using SI units)

base_pose: Isometry3<f64>

Cartesian world pose of the base

base_inertial_frame_pose: Isometry3<f64>

Local pose of inertial frame

link_masses: Vec<f64>

List of the mass values, one for each link.

link_collision_shapes: Vec<CollisionId>

List of the collision shape unique id, one for each link. Use CollisionId::NONE if you do not want to have a collision shape.

link_visual_shapes: Vec<VisualId>

List of the visual shape unique id, one for each link. Use VisualId::NONE if you do not want to set a visual shape.

link_poses: Vec<Isometry3<f64>>

list of local link poses, with respect to parent

link_inertial_frame_poses: Vec<Isometry3<f64>>

list of local inertial frame poses, in the link frame

link_parent_indices: Vec<i32>

Link index of the parent link or 0 for the base.

link_joint_types: Vec<JointType>

list of joint types, one for each link.

link_joint_axis: Vec<Vector3<f64>>

List of joint axis in local frame

use_maximal_coordinates: bool

experimental, best to leave it false.

flags: Option<LoadModelFlags>

similar to the flags passed in load_urdf, for example URDF_USE_SELF_COLLISION. See LoadModelFlags for flags explanation.

Trait Implementations

`impl Default for MultiBodyOptions`[src]

`fn default() -> Self`[src]

Auto Trait Implementations

`impl RefUnwindSafe for MultiBodyOptions`

`impl Send for MultiBodyOptions`

`impl Sync for MultiBodyOptions`

`impl Unpin for MultiBodyOptions`

`impl UnwindSafe for MultiBodyOptions`

Blanket Implementations

`impl<T> Any for T where T: 'static + ?Sized,` [src]

`pub fn type_id(&self) -> TypeId`[src]

`impl<T> Borrow<T> for T where T: ?Sized,` [src]

`pub fn borrow(&self) -> &T`[src]

`impl<T> BorrowMut<T> for T where T: ?Sized,` [src]

`pub fn borrow_mut(&mut self) -> &mut T`[src]

`impl<T> From<T> for T`[src]

`pub fn from(t: T) -> T`[src]

`impl<T, U> Into for T where U: From<T>,` [src]

`pub fn into(self) -> U`[src]

`impl<T> Pointable for T`

`pub const ALIGN: usize`

`type Init = T`

The type for initializers.

`pub unsafe fn init(init: <T as Pointable>::Init) -> usize`

`pub unsafe fn deref<'a>(ptr: usize) -> &'a T`

`pub unsafe fn deref_mut<'a>(ptr: usize) -> &'a mut T`

`pub unsafe fn drop(ptr: usize)`

`impl<T> Same<T> for T`

`type Output = T`

Should always be Self

`impl<SS, SP> SupersetOf<SS> for SP where SS: SubsetOf<SP>,`

`pub fn to_subset(&self) -> Option<SS>`

`pub fn is_in_subset(&self) -> bool`

`pub fn to_subset_unchecked(&self) -> SS`

`pub fn from_subset(element: &SS) -> SP`

`impl<T, U> TryFrom for T where U: Into<T>,` [src]

`type Error = Infallible`

The type returned in the event of a conversion error.

`pub fn try_from(value: U) -> Result<T, <T as TryFrom>::Error>`[src]

`impl<T, U> TryInto for T where U: TryFrom<T>,` [src]

`type Error = >::Error`

The type returned in the event of a conversion error.

Struct rubullet::MultiBodyOptions[−][src]

Fields

Trait Implementations

impl Default for MultiBodyOptions[src]

fn default() -> Self[src]

Auto Trait Implementations

impl RefUnwindSafe for MultiBodyOptions

impl Send for MultiBodyOptions

impl Sync for MultiBodyOptions

impl Unpin for MultiBodyOptions

impl UnwindSafe for MultiBodyOptions

Blanket Implementations

impl<T> Any for T where T: 'static + ?Sized, [src]

pub fn type_id(&self) -> TypeId[src]

impl<T> Borrow<T> for T where T: ?Sized, [src]

pub fn borrow(&self) -> &T[src]

impl<T> BorrowMut<T> for T where T: ?Sized, [src]

pub fn borrow_mut(&mut self) -> &mut T[src]

impl<T> From<T> for T[src]

pub fn from(t: T) -> T[src]

impl<T, U> Into<U> for T where U: From<T>, [src]

pub fn into(self) -> U[src]

impl<T> Pointable for T

pub const ALIGN: usize

type Init = T

pub unsafe fn init(init: <T as Pointable>::Init) -> usize

pub unsafe fn deref<'a>(ptr: usize) -> &'a T

pub unsafe fn deref_mut<'a>(ptr: usize) -> &'a mut T

pub unsafe fn drop(ptr: usize)

impl<T> Same<T> for T

type Output = T

impl<SS, SP> SupersetOf<SS> for SP where SS: SubsetOf<SP>,

pub fn to_subset(&self) -> Option<SS>

pub fn is_in_subset(&self) -> bool

pub fn to_subset_unchecked(&self) -> SS

pub fn from_subset(element: &SS) -> SP

impl<T, U> TryFrom<U> for T where U: Into<T>, [src]

type Error = Infallible

pub fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>[src]

impl<T, U> TryInto<U> for T where U: TryFrom<T>, [src]

type Error = <U as TryFrom<T>>::Error

pub fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>[src]

impl<V, T> VZip<V> for T where V: MultiLane<T>,

pub fn vzip(self) -> V