Struct Structure 

pub struct Structure { /* private fields */ }

A normalized robot structure without authored URDF or filesystem state.

Implementations

impl Structure

pub fn links(&self) -> impl ExactSizeIterator<Item = &Link>

Canonical links in deterministic document order.

pub fn joints(&self) -> impl ExactSizeIterator<Item = &Joint>

Canonical joints in deterministic document order.

pub fn materials(&self) -> impl ExactSizeIterator<Item = &Material>

Canonical materials in deterministic document order.

pub fn asset_ids(&self) -> impl Iterator<Item = &AssetId>

Distinct logical asset identities referenced by this structure.

pub fn link(&self, id: &str) -> Option<&Link>

Find a canonical link by identity.

pub fn joint(&self, id: &str) -> Option<&Joint>

Find a canonical joint by identity.

pub const fn root_link(&self) -> &LinkId

The single root link, resolved when the structure was validated.

pub fn parent_joint(&self, link: &str) -> Option<&Joint>

The joint that attaches link to its parent, absent only for the root.

pub fn child_joints<'a>( &'a self, link: &'a str, ) -> impl Iterator<Item = &'a Joint>

Every joint that attaches a child directly beneath link.

Trait Implementations

impl Clone for Structure

fn clone(&self) -> Structure

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for Structure

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

Formats the value using the given formatter.

impl DescribeWire for Structure

fn wire_schema() -> WireSchema

The shape a value of this type puts on the wire.

impl<'de> Deserialize<'de> for Structure

fn deserialize<D: Deserializer<'de>>(deserializer: D) -> Result<Self, D::Error>

Deserialize this value from the given Serde deserializer.

impl Serialize for Structure

fn serialize<S: Serializer>(&self, serializer: S) -> Result<S::Ok, S::Error>

Serialize this value into the given Serde serializer.