Struct BodySpec 

pub struct BodySpec<T> {
    pub link: LinkSpec,
    pub parent_link: String,
    pub joint_type: JointType,
    pub axis: JointAxis,
    pub limits: Option<JointLimits<T>>,
    pub inertial: Option<InertialSpec<T>>,
    pub joint_origin: Transform3<T>,
    pub dh_params: Option<DhParams<T>>,
}

Fields

link: LinkSpec

parent_link: String

joint_type: JointType

axis: JointAxis

limits: Option<JointLimits<T>>

inertial: Option<InertialSpec<T>>

joint_origin: Transform3<T>

Static URDF <origin> transform from parent link to joint frame.

dh_params: Option<DhParams<T>>

Explicit DH parameters, present only when the source pipeline carries them (fixture::Planar2rFixture, fixture::SixDofDhFixture, or callers constructing BodySpec directly with known DH). URDF-loaded bodies leave this None so dh::to_chain_spec fails loudly instead of silently treating URDF origins as DH.

Trait Implementations

impl<T: Clone> Clone for BodySpec<T>

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

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl<T: Debug> Debug for BodySpec<T>

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

Formats the value using the given formatter.

impl<T: PartialEq> PartialEq for BodySpec<T>

fn eq(&self, other: &BodySpec<T>) -> bool

Tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl<T> StructuralPartialEq for BodySpec<T>