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Planar2rFixture

nabled_model::fixture

Struct Planar2rFixture

pub struct Planar2rFixture {
    pub description: String,
    pub link_lengths: Vec<f64>,
    pub dh_convention: String,
    pub dh_params: Vec<[f64; 4]>,
    pub gravity: Option<[f64; 3]>,
    pub links: Option<Vec<LinkFixture>>,
    pub cases: Vec<Planar2rCase>,
}

Fields§

§description: String§link_lengths: Vec<f64>§dh_convention: String§dh_params: Vec<[f64; 4]>§gravity: Option<[f64; 3]>§links: Option<Vec<LinkFixture>>§cases: Vec<Planar2rCase>

Implementations§

impl Planar2rFixture

pub fn to_robot_model<T: NabledReal + Default>( &self, ) -> Result<RobotModel<T>, ModelError>

Build a RobotModel from fixture DH and optional link inertials.

pub fn to_chain_spec<T: NabledReal>(&self) -> Result<ChainSpec<T>, ModelError>

Build a kinematic ChainSpec from fixture DH parameters.

pub fn from_file(path: &str) -> Result<Self, ModelError>

Load fixture from JSON file path.

Trait Implementations§

impl Debug for Planar2rFixture

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

Formats the value using the given formatter. Read more

impl<'de> Deserialize<'de> for Planar2rFixture

fn deserialize<D>(deserializer: D) -> Result<Self, D::Error>
where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer. Read more

Auto Trait Implementations§

impl Freeze for Planar2rFixture

impl RefUnwindSafe for Planar2rFixture

impl Send for Planar2rFixture

impl Sync for Planar2rFixture

impl Unpin for Planar2rFixture

impl UnsafeUnpin for Planar2rFixture

impl UnwindSafe for Planar2rFixture

Blanket Implementations§

impl<T> Any for T
where T: 'static + ?Sized,

fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more

impl<T> Borrow<T> for T
where T: ?Sized,

fn borrow(&self) -> &T

Immutably borrows from an owned value. Read more

impl<T> BorrowMut<T> for T
where T: ?Sized,

fn borrow_mut(&mut self) -> &mut T

Mutably borrows from an owned value. Read more

impl<T> From<T> for T

fn from(t: T) -> T

Returns the argument unchanged.

impl<T, U> Into<U> for T
where U: From<T>,

fn into(self) -> U

Calls U::from(self).

That is, this conversion is whatever the implementation of From<T> for U chooses to do.

impl<T, U> TryFrom<U> for T
where U: Into<T>,

type Error = Infallible

The type returned in the event of a conversion error.

fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>

Performs the conversion.

impl<T, U> TryInto<U> for T
where U: TryFrom<T>,

type Error = <U as TryFrom<T>>::Error

The type returned in the event of a conversion error.

fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>

Performs the conversion.

impl<T> DeserializeOwned for T
where T: for<'de> Deserialize<'de>,