Struct k::Link
[−]
[src]
pub struct Link<T: Real> { pub name: String, pub joint: Joint<T>, pub transform: Isometry3<T>, pub world_transform_cache: Option<Isometry3<T>>, }
Joint and Link
Fields
name: String
joint: Joint<T>
joint instance
transform: Isometry3<T>
local transfrom of joint
world_transform_cache: Option<Isometry3<T>>
cache of world transform
Methods
impl<T> Link<T> where
T: Real,
[src]
T: Real,
fn new(name: &str, joint: Joint<T>) -> Link<T>
Construct a Link from name and joint instance
You can use LinkBuilder
fn get_joint_name(&self) -> &str
fn calc_transform(&self) -> Isometry3<T>
fn set_joint_angle(&mut self, angle: T) -> Result<(), JointError>
fn get_joint_angle(&self) -> Option<T>
fn has_joint_angle(&self) -> bool
Trait Implementations
impl<T: Debug + Real> Debug for Link<T>
[src]
impl<T: Clone + Real> Clone for Link<T>
[src]
fn clone(&self) -> Link<T>
Returns a copy of the value. Read more
fn clone_from(&mut self, source: &Self)
1.0.0
Performs copy-assignment from source
. Read more