Struct Robot 

pub struct Robot { /* private fields */ }

Fully normalized runtime-facing robot model.

Implementations

impl Robot

pub fn encode(&self) -> Result<Vec<u8>, EncodeError>

Encode the canonical runtime wire document deterministically.

pub fn decode(bytes: &[u8]) -> Result<Self, DecodeError>

Strictly decode and validate the canonical runtime wire document.

pub fn identity(&self) -> &RobotIdentity

pub fn robot_id(&self) -> &str

pub fn namespace(&self) -> &str

pub fn motion(&self) -> &MotionModel

pub fn kinematic(&self) -> &KinematicConfig

pub const fn motion_limits(&self) -> MotionLimits

pub fn components(&self) -> impl ExactSizeIterator<Item = &ComponentInstance>

pub fn component_ids(&self) -> impl ExactSizeIterator<Item = &str>

pub fn component(&self, id: &str) -> Option<&ComponentInstance>

pub fn component_instance( &self, id: &str, ) -> Result<&ComponentInstance, ModelError>

pub fn component_for_instance(&self, id: &str) -> Result<&Component, ModelError>

pub fn simulation_for_component_type( &self, component_type: &str, ) -> Option<&Simulation>

pub fn simulation_for_instance( &self, component_id: &str, ) -> Result<Option<&Simulation>, ModelError>

pub fn structure(&self) -> &Structure

pub fn capability( &self, reference: &CapabilityRef, ) -> Result<&Capability, ModelError>

pub fn camera_capabilities(&self) -> Result<Vec<CapabilityRef>, ModelError>

pub fn require_motor( &self, reference: &CapabilityRef, ) -> Result<(&Motor, i8), ModelError>

pub fn require_encoder( &self, reference: &CapabilityRef, ) -> Result<(&Encoder, i8), ModelError>

pub fn link_target_frame( &self, reference: &CapabilityRef, ) -> Result<String, ModelError>

Validate and return the namespaced runtime frame for a capability’s component-local link target.

Trait Implementations

impl Clone for Robot

fn clone(&self) -> Robot

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for Robot

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

Formats the value using the given formatter.