Struct Visual

pub struct Visual { /* private fields */ }

A Visual geometry for a Link.

This struct holds one of (the many) Visual geometries for the associated Link. It can be constructed via the VisualBuilder (accessable via the builder method) and added while building the Link. It contains the following 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.

Implementations

impl Visual

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

Create a new VisualBuilder with the specified geometry.

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

Gets an optional reference to the name of this Visual.

Example

Unwraps are hidden for brevity.

let vis: VisualBuilder = Visual::builder(SphereGeometry::new(1.));
let tree = LinkBuilder::new("example-1")
    .add_visual(vis.clone())
    .build_tree();

assert_eq!(
    tree.get_root_link()
        .read()
        .visuals()
        .first()
        .name(),
    None
);

let tree = LinkBuilder::new("example-2")
    .add_visual(vis.named("Some Name"))
    .build_tree();

assert_eq!(
    tree.get_root_link()
        .read()
        .visuals()
        .first()
        .name(),
    Some(&"Some Name".to_owned())
)

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

Gets an optional reference to the transform of this Visual.

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

Gets a reference to the geometry of this Visual.

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

Gets an optional reference to the material of this Visual.

pub fn rebuild(&self) -> VisualBuilder

Recreates the VisualBuilder, which was used to create this Visual.

Trait Implementations

impl Clone for Visual

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 Visual

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

Formats the value using the given formatter.

impl PartialEq for Visual

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.

impl ToURDF for Visual

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

Represents the element as in URDF format.