Struct VisualBuilder

pub struct VisualBuilder { /* private fields */ }

The builder for Visual components.

The VisualBuilder is used to construct Visual elements of Links.

This will configure the visual data:

• geometry: The geometry used for visualization.
• material (Optional): The material is used to control the appearance of the geometry.
• transform (Optional): The transform from the Link frame to the geometry.
• name (Optional): The string identifier (or name) of this visual element. For practical purposes, it is recommended to use unique identifiers/names.

They can be added to a LinkBuilder while constructing a Link by calling add_visual.

A VisualBuilder can be converted to a CollisionBuilder to make defining Collision easier.
WARNING: It is not recommended to use high-detail meshes for collision geometries, since this will slow down the collision checking process. Also, keep in mind, that some simulators only support the use of convex meshes for collisions, if at all.

Implementations

impl VisualBuilder

pub fn new( geometry: impl Into<Box<dyn GeometryInterface + Sync + Send>>, ) -> Self

Create a new VisualBuilder with the specified Geometry.

pub fn new_full( name: Option<String>, transform: Option<Transform>, geometry: impl Into<Box<dyn GeometryInterface + Sync + Send>>, material_description: Option<MaterialDescriptor>, ) -> Self

Create a new VisualBuilder with all fields specified.

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

Sets the name of this VisualBuilder.

pub fn transformed(self, transform: Transform) -> Self

Specify a transform for this VisualBuilder.

The default is a no transformation (The frame of the Visual will be the same as the frame of the parent Link).

pub fn materialized(self, material_description: MaterialDescriptor) -> Self

Specify a material for this VisualBuilder.

The default is no material.

pub fn to_collision(&self) -> CollisionBuilder

Creates a CollisionBuilder from this VisualBuilder reference by lossy conversion.

Creates a CollisionBuilder from the VisualBuilder by cloning the following fields:

• name
• transform
• geometry

impl VisualBuilder

Non-builder methods

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

Gets an optional reference to the name of this VisualBuilder.

pub fn transform(&self) -> Option<&Transform>

Gets an optional reference to the transform of this VisualBuilder.

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

Gets a reference to the geometry of this VisualBuilder.

pub fn material(&self) -> Option<&MaterialDescriptor>

Gets an optional reference to the MaterialDescriptor of this VisualBuilder.

Trait Implementations

impl Clone for VisualBuilder

fn clone(&self) -> Self

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for VisualBuilder

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

Formats the value using the given formatter.

impl GroupIDChanger for VisualBuilder

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 for VisualBuilder

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

Tests for self and other values to be equal, and is used by ==.

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

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