Struct robot_description_builder::material::MaterialDescriptor

pub struct MaterialDescriptor { /* private fields */ }

A descriptor for a future Material.

A MaterialDescriptor is used to construct a Material.

A Descriptor is a smiliar idea as a Builder, but there is an important difference between which has to be adressed with a differen name.

A Builder would always construct a new instance of a struct, in this project meaning it cannot be used twice in the same KinematicTree. Since using a Builder twice would result in two exactly the same objects.

A Descriptor on the other hand, first checks if there already exists an instance which matches it description, in this case a Material. If not the case a new instance (Material) is constructed and added to the index. If an instance already exists, which exactly matches the description, then the ‘new’ Material will refer to the pre-existing data.

This is desirable in the case of Materials, since they are often reused. This could also allow for changing a Material and the other used of it changing withit.

OLD STUFF TODO: UPDATE

When a MaterialDescriptor is constructed for a specific KinematicDataTee, the following steps happen:

1. Check if the description of the MaterialDescriptor matches a pre-existing Material already in the tree.
   • If the a Material matches the description, the reference to that material is returned.
   • If no Material matches the desctiption, a new Material is constructed and inserted to the material_index of the KinematicDataTree and the reference is returned.
   • If only the name of the Material matches, an error is raised.

Implementations

impl MaterialDescriptor

pub fn new_color(red: f32, green: f32, blue: f32, alpha: f32) -> Self

Creates a new MaterialDescriptor with a solid color (rgba)

The red, green, blue and alpha fields expect a value between 0 and 1.

Example

MaterialDescriptor::new_color(1., 0.4, 0.6, 0.5)

pub fn new_rgb(red: f32, green: f32, blue: f32) -> Self

Creates a new MaterialDescriptor with a solid color (rgb)

The red, green, blue fields expect a value between 0 and 1.

Example

MaterialDescriptor::new_rgb(1., 0.4, 0.6)

pub fn new_texture(texture_path: impl Into<String>) -> Self

Creates a new MaterialDescriptor with a texture.

texture_path should be a valid package path (e.g. "package://NAME_OF_PACKAGE/path/{texture}"). You are on your own here.

Example

MaterialDescriptor::new_texture("package://robot_description/textures/example_texture.png")

pub fn named(self, name: impl Into<String>) -> Self

Adds a name to the MaterialDescriptor, so it can later be used as a referenced Material

Important

When a named Material is used, it needs to be the same as all materials with the same name. Otherwise, problems will arise later down the line.

Example

MaterialDescriptor::new_rgb(0.5, 1., 0.5).named("soft-green")

impl MaterialDescriptor

Non-builder methods

pub fn name(&self) -> Option<&String>

Gets the optional of the MaterialDescriptor as a optional reference.

pub fn data(&self) -> &MaterialData

Gets a reference to the MaterialData of the MaterialDescriptor

Trait Implementations

impl Clone for MaterialDescriptor

fn clone(&self) -> MaterialDescriptor

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for MaterialDescriptor

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

Formats the value using the given formatter.

impl GroupIDChanger for MaterialDescriptor

unsafe fn change_group_id_unchecked(&mut self, new_group_id: &str)

Unchecked replacement of the GroupID of the builder tree with new_group_id.

fn apply_group_id(&mut self)

Applies GroupID delimiter replacements.

fn change_group_id( &mut self, new_group_id: impl GroupID ) -> Result<(), GroupIDError>

Replaces the GroupID of the builder tree with new_group_id.

impl PartialEq<MaterialDescriptor> for MaterialDescriptor

fn eq(&self, other: &MaterialDescriptor) -> 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 StructuralPartialEq for MaterialDescriptor