Struct MultiBody 

pub struct MultiBody {
    pub link_map: HashMap<usize, Link>,
    pub root_index: usize,
    pub leafs_index: Vec<usize>,
    pub name: String,
    /* private fields */
}

Fields

link_map: HashMap<usize, Link>

root_index: usize

leafs_index: Vec<usize>

name: String

Implementations

impl MultiBody

pub fn from_urdf(path: impl AsRef<Path>) -> Result<MultiBody, UrdfError>

pub fn get_link(&self, index: usize) -> Option<&Link>

pub fn parent(&self, index: usize) -> Option<usize>

pub fn children(&self, index: usize) -> Vec<usize>

pub fn get_kidy_chain<const N: usize>( &self, start: &str, end: &str, ) -> KidyChain<N>

Trait Implementations

impl Clone for MultiBody

fn clone(&self) -> MultiBody

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for MultiBody

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

Formats the value using the given formatter.