pub struct UrdfTree { /* private fields */ }Expand description
A .urdf file loaded into memory (excluding any mesh files).
Can be used to find the EntityPath of any link or joint in the URDF.
Implementations§
Source§impl UrdfTree
impl UrdfTree
Sourcepub fn from_file_path<P: AsRef<Path>>(path: P) -> Result<Self>
pub fn from_file_path<P: AsRef<Path>>(path: P) -> Result<Self>
Given a path to an .urdf file, load it.
Sourcepub fn new(robot: Robot, urdf_dir: Option<PathBuf>) -> Result<Self>
pub fn new(robot: Robot, urdf_dir: Option<PathBuf>) -> Result<Self>
The urdf_dir is the directory containing the .urdf file,
which can later be used to resolve relative paths to mesh files.
pub fn joints(&self) -> impl Iterator<Item = &Joint>
pub fn get_joint_by_name(&self, joint_name: &str) -> Option<&Joint>
Sourcepub fn get_link(&self, link_name: &str) -> Option<&Link>
pub fn get_link(&self, link_name: &str) -> Option<&Link>
Returns the Link with the given name, if it exists.
pub fn get_link_path(&self, link: &Link) -> EntityPath
pub fn get_joint_child(&self, joint: &Joint) -> &Link
Auto Trait Implementations§
impl Freeze for UrdfTree
impl RefUnwindSafe for UrdfTree
impl Send for UrdfTree
impl Sync for UrdfTree
impl Unpin for UrdfTree
impl UnwindSafe for UrdfTree
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