Struct robot_description_builder::link_data::Collision

pub struct Collision { /* private fields */ }

A Collision geometry for a Link.

This struct holds one of (the many) Colliders for the associated Link. It can be constructed via the CollisionBuilder (accessable via the builder method) and added while building the Link. It contains the following data:

• geometry: The geometry used for collision checking¹.
• transform (Optional): The transform from the Link frame to the geometry.
• name (Optional): The identifiers/names of this collision element. For practical purposes, it is recommended to use unique identifiers/names.

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1. 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 Collision

pub fn builder( geometry: impl Into<Box<dyn GeometryInterface + Sync + Send>> ) -> CollisionBuilder

Create a new CollisionBuilder with the specified Geometry.

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

Gets an optional reference to the name of this Collision.

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

Gets an optional reference to the transform of this Collision.

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

Gets a reference to the geometry of this Collision.

pub fn rebuild(&self) -> CollisionBuilder

Recreates the CollisionBuilder, which was used to create this Collision.

Trait Implementations

impl Clone for Collision

fn clone(&self) -> Self

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for Collision

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

Formats the value using the given formatter.

impl From<CollisionBuilder> for Collision

fn from(value: CollisionBuilder) -> Self

Converts to this type from the input type.

impl PartialEq for Collision

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 Collision

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

Represents the element as in URDF format.