Struct robot_description_builder::link_data::Inertial

pub struct Inertial {
    pub transform: Option<Transform>,
    pub mass: f32,
    pub ixx: f32,
    pub ixy: f32,
    pub ixz: f32,
    pub iyy: f32,
    pub iyz: f32,
    pub izz: f32,
}

Fields

transform: Option<Transform>

The transform from the parent Link’s frame to the frame of the InertialData.

This is the reference for the placement of the center of mass and the moments of inertia.

In URDF this field is refered to as <origin>.

mass: f32

The mass of the current Link.

ixx: f32

The Moments of ineria around the x axis.

ixy: f32

Product of inertia element xy.

ixz: f32

Product of inertia element xz.

iyy: f32

The Moments of ineria around the y axis.

iyz: f32

Product of inertia element yz.

izz: f32

The Moments of ineria around the z axis.

Trait Implementations

impl Clone for Inertial

fn clone(&self) -> Inertial

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for Inertial

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

Formats the value using the given formatter.

impl Default for Inertial

fn default() -> Inertial

Returns the “default value” for a type.

impl PartialEq for Inertial

fn eq(&self, other: &Inertial) -> 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 Inertial

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

Represents the element as in URDF format.

impl Copy for Inertial

impl StructuralPartialEq for Inertial