Struct Inertial

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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,
}

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§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§

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impl Clone for Inertial

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fn clone(&self) -> Inertial

Returns a duplicate of the value. Read more

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

Performs copy-assignment from source. Read more

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impl Debug for Inertial

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

Formats the value using the given formatter. Read more

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impl Default for Inertial

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fn default() -> Inertial

Returns the “default value” for a type. Read more

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impl PartialEq for Inertial

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

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

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

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

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impl ToURDF for Inertial

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

Represents the element as in URDF format.

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impl Copy for Inertial

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impl StructuralPartialEq for Inertial

Auto Trait Implementations§

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impl UnwindSafe for Inertial

Blanket Implementations§

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impl<T> Any for T
where T: 'static + ?Sized,

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fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more

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impl<T> Borrow<T> for T
where T: ?Sized,

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fn borrow(&self) -> &T

Immutably borrows from an owned value. Read more

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impl<T> BorrowMut<T> for T
where T: ?Sized,

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fn borrow_mut(&mut self) -> &mut T

Mutably borrows from an owned value. Read more

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impl<T> CloneToUninit for T
where T: Clone,

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unsafe fn clone_to_uninit(&self, dest: *mut u8)

🔬This is a nightly-only experimental API. (clone_to_uninit)

Performs copy-assignment from self to dest. Read more

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impl<T> From<T> for T

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fn from(t: T) -> T

Returns the argument unchanged.

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impl<T, U> Into for T
where U: From<T>,

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fn into(self) -> U

Calls U::from(self).

That is, this conversion is whatever the implementation of From<T> for U chooses to do.

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impl<T> IntoEither for T

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fn into_either(self, into_left: bool) -> Either<Self, Self>

Converts self into a Left variant of Either<Self, Self> if into_left is true. Converts self into a Right variant of Either<Self, Self> otherwise. Read more

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fn into_either_with<F>(self, into_left: F) -> Either<Self, Self>
where F: FnOnce(&Self) -> bool,

Converts self into a Left variant of Either<Self, Self> if into_left(&self) returns true. Converts self into a Right variant of Either<Self, Self> otherwise. Read more

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