Struct RobotLink 

pub struct RobotLink {
    pub name: String,
    pub dh: DhParam,
    pub joint_type: JointType,
    pub limits: Option<JointLimits>,
    pub collision_radius: f64,
    pub collision_half_len: f64,
}

Describes a single link of a robot arm.

Fields

name: String

Human-readable name of the link.

dh: DhParam

DH parameters relative to the parent frame.

joint_type: JointType

Type of the joint connecting to this link.

limits: Option<JointLimits>

Joint limits (optional for fixed joints).

collision_radius: f64

Capsule radius used for collision checking (metres).

collision_half_len: f64

Capsule half-length used for collision checking (metres).

Implementations

impl RobotLink

pub fn new( name: impl Into<String>, dh: DhParam, joint_type: JointType, limits: Option<JointLimits>, collision_radius: f64, collision_half_len: f64, ) -> Self

Creates a new robot link.

Trait Implementations

impl Clone for RobotLink

fn clone(&self) -> RobotLink

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for RobotLink

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

Formats the value using the given formatter.