Struct MultibodyDesc 

pub struct MultibodyDesc<N: RealField + Copy> { /* private fields */ }

A multibody builder.

Implementations

impl<N: RealField + Copy> MultibodyDesc<N>

pub fn new<J: Joint<N>>(joint: J) -> Self

Initialize a multibody builder with one link with one joint.

pub fn from_boxed_joint(joint: Box<dyn Joint<N>>) -> Self

Initializes a multibody builder from a joint trait object.

pub fn children(&self) -> &[MultibodyDesc<N>]

Returns the children of this multibody.

pub fn children_mut(&mut self) -> &mut [MultibodyDesc<N>]

Returns a mutable list of children of this multibody.

pub fn add_child<J: Joint<N>>(&mut self, joint: J) -> &mut MultibodyDesc<N>

Add a child link to the multibody link represented by self.

pub fn add_child_desc(&mut self, child: MultibodyDesc<N>) -> &mut Self

Adds the description as a child link to the multibody link represented by self.

pub fn set_joint<J: Joint<N>>(&mut self, joint: J) -> &mut Self

Sets the joint of this multibody builder.

pub fn angular_inertia(self, angular_inertia: N) -> Self

pub fn set_angular_inertia(&mut self, angular_inertia: N) -> &mut Self

pub fn mass(self, mass: N) -> Self

pub fn set_mass(&mut self, mass: N) -> &mut Self

pub fn name(self, name: String) -> Self

pub fn set_name(&mut self, name: String) -> &mut Self

pub fn parent_shift(self, parent_shift: Vector<N>) -> Self

pub fn set_parent_shift(&mut self, parent_shift: Vector<N>) -> &mut Self

pub fn body_shift(self, body_shift: Vector<N>) -> Self

pub fn set_body_shift(&mut self, body_shift: Vector<N>) -> &mut Self

pub fn velocity(self, velocity: Velocity<N>) -> Self

pub fn set_velocity(&mut self, velocity: Velocity<N>) -> &mut Self

pub fn local_inertia(self, local_inertia: Inertia<N>) -> Self

pub fn set_local_inertia(&mut self, local_inertia: Inertia<N>) -> &mut Self

pub fn local_center_of_mass(self, local_center_of_mass: Point<N>) -> Self

pub fn set_local_center_of_mass( &mut self, local_center_of_mass: Point<N>, ) -> &mut Self

pub fn get_angular_inertia(&self) -> N

pub fn get_mass(&self) -> N

pub fn get_name(&self) -> &str

pub fn get_parent_shift(&self) -> &Vector<N>

pub fn get_body_shift(&self) -> &Vector<N>

pub fn get_velocity(&self) -> &Velocity<N>

pub fn get_local_inertia(&self) -> &Inertia<N>

pub fn get_local_center_of_mass(&self) -> &Point<N>

pub fn build(&self) -> Multibody<N>

Build the multibody described by this factory.

pub fn build_with_parent<'m>( &self, multibody: &'m mut Multibody<N>, parent_id: usize, ) -> &'m mut MultibodyLink<N>

Build the multibody links described by this factory and attach them to the parent_id-th link of the given multibody.