Struct robot_description_builder::link_data::Visual
source · pub struct Visual { /* private fields */ }
Expand description
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 thegeometry
.transform
(Optional): The transform from theLink
frame to thegeometry
.name
(Optional): The string identifier (or name) of this visual element. For practical purposes, it is recommended to use unique identifiers/names.
Implementations§
source§impl Visual
impl Visual
sourcepub fn builder(
geometry: impl Into<Box<dyn GeometryInterface + Sync + Send>>
) -> VisualBuilder
pub fn builder( geometry: impl Into<Box<dyn GeometryInterface + Sync + Send>> ) -> VisualBuilder
Create a new VisualBuilder
with the specified geometry
.
sourcepub fn name(&self) -> Option<&String>
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())
)
sourcepub fn transform(&self) -> Option<&Transform>
pub fn transform(&self) -> Option<&Transform>
Gets an optional reference to the transform
of this Visual
.
sourcepub fn geometry(&self) -> &Box<dyn GeometryInterface + Sync + Send>
pub fn geometry(&self) -> &Box<dyn GeometryInterface + Sync + Send>
Gets a reference to the geometry
of this Visual
.
sourcepub fn material(&self) -> Option<&Material>
pub fn material(&self) -> Option<&Material>
Gets an optional reference to the material
of this Visual
.
sourcepub fn rebuild(&self) -> VisualBuilder
pub fn rebuild(&self) -> VisualBuilder
Recreates the VisualBuilder
, which was used to create this Visual
.
Trait Implementations§
Auto Trait Implementations§
impl !RefUnwindSafe for Visual
impl Send for Visual
impl Sync for Visual
impl Unpin for Visual
impl !UnwindSafe for Visual
Blanket Implementations§
source§impl<T> BorrowMut<T> for Twhere
T: ?Sized,
impl<T> BorrowMut<T> for Twhere
T: ?Sized,
source§fn borrow_mut(&mut self) -> &mut T
fn borrow_mut(&mut self) -> &mut T
Mutably borrows from an owned value. Read more
§impl<SS, SP> SupersetOf<SS> for SPwhere
SS: SubsetOf<SP>,
impl<SS, SP> SupersetOf<SS> for SPwhere
SS: SubsetOf<SP>,
§fn to_subset(&self) -> Option<SS>
fn to_subset(&self) -> Option<SS>
The inverse inclusion map: attempts to construct
self
from the equivalent element of its
superset. Read more§fn is_in_subset(&self) -> bool
fn is_in_subset(&self) -> bool
Checks if
self
is actually part of its subset T
(and can be converted to it).§fn to_subset_unchecked(&self) -> SS
fn to_subset_unchecked(&self) -> SS
Use with care! Same as
self.to_subset
but without any property checks. Always succeeds.§fn from_subset(element: &SS) -> SP
fn from_subset(element: &SS) -> SP
The inclusion map: converts
self
to the equivalent element of its superset.