Struct Link 

pub struct Link<'a> {
    pub name: &'a str,
    pub inertial: Inertial,
    pub visuals: Vec<Visual<'a>>,
    pub collisions: Vec<Collision<'a>>,
}

One link of a built structure: the mass it has, and the shapes it is drawn and collided with.

A link that no stated joint attaches is added beneath the structure’s body frame by a fixed joint named <link>_joint, exactly as a mount link is, so stating a link is also how a structure grows one. Naming a link some joint already provides gives that link its body instead.

Every field but the name has a default: a link carries the same unit inertial a generated link does, and no geometry at all.

use phoxal_model::builder::{Inertia, Inertial, Link, RobotBuilder};

let robot = RobotBuilder::new("rover")
    .link(Link {
        name: "base_link",
        inertial: Inertial {
            mass_kg: 12.0,
            inertia: Inertia {
                ixx: 0.8,
                iyy: 1.2,
                izz: 1.6,
                ..Inertia::default()
            },
            ..Inertial::default()
        },
        ..Link::default()
    })
    .build()?;

let base = robot.structure().link("base_link").expect("the stated link");
assert_eq!(base.inertial().mass_kg(), 12.0);

Fields

name: &'a str

The link’s own identity, unique within its structure.

inertial: Inertial

The link’s mass properties.

visuals: Vec<Visual<'a>>

The shapes the link is drawn with.

collisions: Vec<Collision<'a>>

The shapes the link collides with.

Trait Implementations

impl<'a> Clone for Link<'a>

fn clone(&self) -> Link<'a>

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl<'a> Debug for Link<'a>

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

Formats the value using the given formatter.

impl<'a> Default for Link<'a>

fn default() -> Link<'a>

Returns the “default value” for a type.