Struct k::Link

pub struct Link<T: Real> {
    pub name: String,
    pub joint: Joint<T>,
    pub transform: Isometry3<T>,
    // some fields omitted
}

Link contains a joint and a transform

Fields

name: String

joint: Joint<T>

joint instance

transform: Isometry3<T>

local transfrom of joint

Methods

impl<T> Link<T> where     T: Real,

pub fn new(name: &str, joint: Joint<T>) -> Link<T>

Construct a Link from name and joint instance

You can use LinkBuilder if you want.

pub fn joint_name(&self) -> &str

Return the name of the joint

pub fn transform(&self) -> Isometry3<T>

Updates and returns the transform of the end of the joint

pub fn set_joint_angle(&mut self, angle: T) -> Result<(), JointError>

Set the angle of the joint

If angle is out of limit, it returns Err.

pub fn joint_angle(&self) -> Option<T>

Get the angle of the joint. If it is fixed, it returns None.

pub fn has_joint_angle(&self) -> bool

Returns if it has a joint angle. similar to is_not_fixed()

pub fn set_world_transform(&self, world_transform: Isometry3<T>)

pub fn world_transform(&self) -> Ref<Option<Isometry3<T>>>

impl<T> Link<T> where     T: Real,

pub fn from_urdf_joint(joint: &Joint) -> Link<T>

Trait Implementations

impl<T: Debug + Real> Debug for Link<T>

fn fmt(&self, f: &mut Formatter) -> Result

Formats the value using the given formatter.

impl<T: Clone + Real> Clone for Link<T>

fn clone(&self) -> Link<T>

Returns a copy of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.