Struct RobotModel 

pub struct RobotModel<T> { /* private fields */ }

Implementations

impl<T: Clone> RobotModel<T>

pub fn new() -> Self

pub fn add_body(&mut self, parent: Option<usize>, body: BodySpec<T>) -> usize

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

pub fn joint(&self, index: usize) -> Option<&BodySpec<T>>

pub fn body_index_for_link(&self, link_name: &str) -> Option<usize>

pub fn dof(&self) -> usize

pub fn validate(&self) -> Result<(), ModelError>

pub fn topological_order(&self) -> Vec<usize>

BFS topological order from root bodies (no parent).

pub fn actuated_indices(&self) -> Vec<usize>

Indices of actuated (non-fixed) bodies in topological order.

pub fn limits_for_joint(&self, joint_index: usize) -> Option<&JointLimits<T>>

Joint limits for actuated joint joint_index (0-based among actuated joints).

pub fn update_body( &mut self, index: usize, body: BodySpec<T>, ) -> Result<(), ModelError>

Trait Implementations

impl<T: Clone> Clone for RobotModel<T>

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

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl<T: Debug> Debug for RobotModel<T>

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

Formats the value using the given formatter.

impl<T: Clone> Default for RobotModel<T>

fn default() -> Self

Returns the “default value” for a type.

impl<T: NabledReal + Clone> KinematicTreeModel<T> for RobotModel<T>

fn validate_tree(&self) -> Result<(), KinematicsError>

fn dof(&self) -> usize

fn actuated_indices(&self) -> Vec<usize>

fn topological_order(&self) -> Vec<usize>

fn body_index_for_link(&self, link_name: &str) -> Option<usize>

fn parent_link(&self, body_index: usize) -> &str

fn child_link(&self, body_index: usize) -> &str

fn joint_type(&self, body_index: usize) -> TreeJointType

fn joint_origin(&self, body_index: usize) -> &Transform3<T>

fn joint_axis(&self, body_index: usize) -> [T; 3]

fn chain_indices( &self, base_link: &str, ee_link: &str, ) -> Result<Vec<usize>, KinematicsError>

fn joint_limits(&self, joint_index: usize) -> Option<(T, T)>

Lower/upper limits for actuated joint joint_index (0-based among actuated DOF).

impl<T: PartialEq> PartialEq for RobotModel<T>

fn eq(&self, other: &RobotModel<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 RobotModel<T>