Struct DhParams 

pub struct DhParams<T> {
    pub a: T,
    pub alpha: T,
    pub d: T,
    pub theta_offset: T,
}

Standard Denavit–Hartenberg parameters for a serial chain joint.

Only present on bodies whose source pipeline carries explicit DH parameters (for example JSON fixtures or explicit BodySpec construction). URDF ingestion does not synthesize DH parameters from joint origins; URDF-derived models stay dh_params == None.

Fields

a: T

alpha: T

d: T

theta_offset: T

Trait Implementations

impl<T: Clone> Clone for DhParams<T>

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

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl<T: Debug> Debug for DhParams<T>

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

Formats the value using the given formatter.

impl<T: PartialEq> PartialEq for DhParams<T>

fn eq(&self, other: &DhParams<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: Copy> Copy for DhParams<T>

impl<T> StructuralPartialEq for DhParams<T>