Struct MeshGeometry

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

Fields

path: String

This should be a valid package path to a mesh file (e.g. "package://robot_description/mesh/{mesh}"). This is unchecked. You are on your own here.

bounding_box: (f32, f32, f32)

This is the size of the bounding box of the mesh at the current scale.

The bounding box is expected to be measured such that the center of the bounding box is at the origin.

scale: (f32, f32, f32)

The desired scale off the mesh.

Important

If this is non-zero you need to pre-calculate the scaled bounding_box.

Implementations

impl MeshGeometry

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

Creates a new MeshGeometry.

Important

• path should be a valid package path (e.g. "package://robot_description/mesh/{mesh}"). You are on your own here.
• bounding_box should be the bounding box at the current scale.
• scale is either specified or defaults to (1., 1., 1.).

Trait Implementations

impl Clone for MeshGeometry

fn clone(&self) -> MeshGeometry

Returns a duplicate 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>

Allows for Cloning of Boxed Geometries.

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 for MeshGeometry

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

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