Struct robot_description_builder::Link

pub struct Link { /* private fields */ }

TODO: Make Builder For Link

Implementations

impl Link

pub fn builder(name: impl Into<String>) -> LinkBuilder

pub fn get_self(&self) -> Arc<RwLock<Link>>

Gets a (strong) refence to the current Link. (An Arc<RwLock<Link>>)

pub fn get_weak_self(&self) -> Weak<RwLock<Link>>

Gets a weak refence to the current Link. (An Weak<RwLock<Link>>)

pub fn parent(&self) -> &LinkParent

pub fn name(&self) -> &String

Gets the reference to the name of the Link

Example

let tree = LinkBuilder::new("my-link").build_tree();

assert_eq!(tree.get_root_link().try_read().unwrap().name(), "my-link")

pub fn joints(&self) -> &Vec<Arc<RwLock<Joint>>>

Returns a reference to the joints of this Link.

The vector contains all Joints connected to this Link, wrapped in a Arc<RwLock<T>>.

pub fn try_attach_child<LinkChain>( &mut self, link_chain: LinkChain, joint_builder: impl BuildJoint ) -> Result<(), AddJointError>where LinkChain: Into<Chained<LinkBuilder>>,

TODO: DOC TODO: maybe flip arguments, because then it will be Link ( Joint, Link)

DEFINED BEHAVIOR:

• The newest link get transfered from the child tree. TODO: VERIFY

TODO:

• DOC
• Test
• Doctest

pub fn attach_joint_chain_at( &mut self, joint_chain: Chained<JointBuilder>, transform: Transform ) -> Result<(), AddJointError>

TODO: This is not finalized yet

TODO:

• DOC
• Test
• Doctest

pub fn attach_joint_chain( &mut self, joint_chain: Chained<JointBuilder> ) -> Result<(), AddJointError>

Attach a Chained<JointBuilder> to the position set in the root JointBuilder

TODO:

• Test
• Doctest

pub fn inertial(&self) -> Option<&InertialData>

pub fn visuals(&self) -> &Vec<Visual>

pub fn colliders(&self) -> &Vec<Collision>

pub fn rebuild(&self) -> LinkBuilder

pub fn rebuild_branch(&self) -> Chained<LinkBuilder>

TODO: DOCS: TODO: TEST

Trait Implementations

impl Debug for Link

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

Formats the value using the given formatter.

impl PartialEq<Link> for Link

fn eq(&self, other: &Self) -> 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 Link

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

Represents the element as in URDF format.