Struct ComponentBuilder 

pub struct ComponentBuilder { /* private fields */ }

Configures one mounted component instance.

Reached through RobotBuilder::component_with.

Implementations

impl ComponentBuilder

pub fn mounted_on(self, link: &str) -> Self

Mount this instance on the named robot link rather than on the one generated from its instance id.

The link is added beneath base_link unless a stated joint already attaches it.

pub fn direction_sign(self, capability: &str, sign: i8) -> Self

State which way this instance’s capability is turned, as 1 or -1.

This is what Robot::require_motor and Robot::require_encoder return beside the capability, so that a mirrored actuator is described once on the model rather than by every consumer that drives it.

Trait Implementations

impl Debug for ComponentBuilder

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

Formats the value using the given formatter.