Struct k::VecKinematicChain

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, 

fn new(name: &str, joint_with_links: Vec<Link<T>>) -> VecKinematicChain<T>

fn len(&self) -> usize

fn is_empty(&self) -> bool

Trait Implementations

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

fn fmt(&self, __arg_0: &mut Formatter) -> Result

Formats the value using the given formatter.

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

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

Returns a copy of the value.

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

Performs copy-assignment from source.

impl<T> LinkContainer<T> for VecKinematicChain<T> where
    T: Real, 

fn calc_link_transforms(&self) -> Vec<Isometry3<T>>

returns transforms of links

fn get_link_names(&self) -> Vec<String>

impl<T> KinematicChain<T> for VecKinematicChain<T> where
    T: Real, 

fn calc_end_transform(&self) -> Isometry3<T>

impl<T> JointContainer<T> for VecKinematicChain<T> where
    T: Real, 

fn set_joint_angles(&mut self, angles: &[T]) -> Result<(), JointError>

if failed, joints angles are non determined,

fn get_joint_angles(&self) -> Vec<T>

fn get_joint_limits(&self) -> Vec<Option<Range<T>>>

fn get_joint_names(&self) -> Vec<String>