Trait SimulationSetup 

pub trait SimulationSetup {
    // Required method
    fn set_franka_urdf_path(&self) -> PathBuf;

    // Provided methods
    fn set_simulation_time_step(&self) -> Duration { ... }
    fn setup_simulation(&mut self, _client: Rc<RefCell<PhysicsClient>>) { ... }
    fn setup_camera(&mut self, _client: Rc<RefCell<PhysicsClient>>) { ... }
    fn get_camera_image(
        &mut self,
        _client: Rc<RefCell<PhysicsClient>>,
    ) -> RgbaImage { ... }
}

A trait which contains methods for handling the simulation. Apart from set_franka_urdf_path, all methods have a default implementation, so you do not have to implement them if you do not need them.

Required Methods

fn set_franka_urdf_path(&self) -> PathBuf

Return the path to the URDF file of the Franka robot.

Provided Methods

fn set_simulation_time_step(&self) -> Duration

Sets how often the simulation should be updated inside the control loop. The default is 1/240s = 240 Hz

fn setup_simulation(&mut self, _client: Rc<RefCell<PhysicsClient>>)

this method runs directly after the simulation is spawned. Use this method for example to load additional object into the simulation.

fn setup_camera(&mut self, _client: Rc<RefCell<PhysicsClient>>)

this method is intended to let you setup the camera. It is run directly after setup_simulation.

fn get_camera_image(&mut self, _client: Rc<RefCell<PhysicsClient>>) -> RgbaImage

determine how you want to get the camera image with this method.

Dyn Compatibility

This trait is dyn compatible.

In older versions of Rust, dyn compatibility was called "object safety".

Implementors