Crate urdf_rs [−] [src]
urdf-rs
URDF parser using serde-xml-rs for rust.
Only link and joint are supported.
Examples
You can access urdf elements like below example.
extern crate urdf_rs; let urdf_robo = urdf_rs::read_file("sample.urdf").unwrap(); let links = urdf_robo.links; println!("{:?}", links[0].visual.origin.xyz); let joints = urdf_robo.joints; println!("{:?}", joints[0].origin.xyz);
Structs
Axis | |
Collision | |
Color | |
Dynamics | |
Inertia | |
Inertial | |
Joint |
Urdf Joint element See http://wiki.ros.org/urdf/XML/joint for more detail. |
JointLimit | |
Link |
Urdf Link element See http://wiki.ros.org/urdf/XML/link for more detail. |
LinkName | |
Mass | |
Material | |
Mimic | |
Pose | |
Robot |
Top level struct to access urdf. |
SafetyController | |
Texture | |
Vec3 | |
Visual |
Enums
Geometry | |
JointType | |
UrdfError |
Functions
read_file |
Read urdf file and create Robot instance |
read_from_string |
Read from string instead of file. |