Struct k::VecKinematicChain
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pub struct VecKinematicChain<T: Real> { pub name: String, pub joint_with_links: Vec<Link<T>>, pub transform: Isometry3<T>, }
Set of Joint and Link
imagine below structure
[transform] -> joint_with_links([[joint] -> [Link]] -> [[joint] -> [Link]] -> ...)
The order must be ordered.
- start from root link
- end with last link
Fields
name: String
joint_with_links: Vec<Link<T>>
transform: Isometry3<T>
Methods
impl<T> VecKinematicChain<T> where
T: Real,
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T: Real,
fn new(name: &str, joint_with_links: Vec<Link<T>>) -> VecKinematicChain<T>
fn calc_link_transforms(&self) -> Vec<Isometry3<T>>
returns transforms of links
fn len(&self) -> usize
fn is_empty(&self) -> bool
Trait Implementations
impl<T: Debug + Real> Debug for VecKinematicChain<T>
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impl<T: Clone + Real> Clone for VecKinematicChain<T>
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fn clone(&self) -> VecKinematicChain<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
impl<T> KinematicChain<T> for VecKinematicChain<T> where
T: Real,
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T: Real,
fn calc_end_transform(&self) -> Isometry3<T>
fn set_joint_angles(&mut self, angles: &[T]) -> Result<(), JointError>
if failed, joints angles are non determined,