Struct robot_description_builder::link_data::geometry::MeshGeometry

pub struct MeshGeometry {
    pub path: String,
    pub bounding_box: (f32, f32, f32),
    pub scale: (f32, f32, f32),
}

TODO: DOCS

The fields are public for the Python wrapper. It doesn’t change much for the Rust side, since most of the time these will be Box<dyn GeometryInterface + Sync + Send>. DOC COPY A trimesh element specified by a filename, and an optional scale that scales the mesh’s axis-aligned-bounding-box. Any geometry format is acceptable but specific application compatibility is dependent on implementation. The recommended format for best texture and color support is Collada .dae files. The mesh file is not transferred between machines referencing the same model. It must be a local file. Prefix the filename with package:/// to make the path to the mesh file relative to the package .

Fields

path: String

bounding_box: (f32, f32, f32)

scale: (f32, f32, f32)

Implementations

impl MeshGeometry

pub fn new( path: impl Into<String>, bounding_box: (f32, f32, f32), scale: Option<(f32, f32, f32)> ) -> Self

TODO: DOC

BoundingBox at current size?

Scale will default to 1. 1. 1.

Trait Implementations

impl Clone for MeshGeometry

fn clone(&self) -> MeshGeometry

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for MeshGeometry

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

Formats the value using the given formatter.

impl From<MeshGeometry> for Box<dyn GeometryInterface + Sync + Send>

fn from(value: MeshGeometry) -> Self

Converts to this type from the input type.

impl From<MeshGeometry> for GeometryShapeContainer

fn from(value: MeshGeometry) -> Self

Converts to this type from the input type.

impl GeometryInterface for MeshGeometry

fn volume(&self) -> f32

The volume of a mesh is approximated by its boundingbox

fn surface_area(&self) -> f32

The surface area of a mesh is approximated by its boundingbox

fn boxed_clone(&self) -> Box<dyn GeometryInterface + Sync + Send>

fn bounding_box(&self) -> (f32, f32, f32)

Get’s the untransformed boundingbox size of the geometry from it’s center. (X, Y, Z)

fn shape_container(&self) -> GeometryShapeContainer

Gets a GeometryShapeContainer of the current Shape

impl PartialEq<MeshGeometry> for MeshGeometry

fn eq(&self, other: &MeshGeometry) -> bool

This method tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

This method tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl ToURDF for MeshGeometry

fn to_urdf( &self, writer: &mut Writer<Cursor<Vec<u8>>>, _urdf_config: &URDFConfig ) -> Result<(), Error>

Represents the element as in URDF format.

impl StructuralPartialEq for MeshGeometry