Struct LinkBuilder

pub struct LinkBuilder { /* private fields */ }

The builder for the Link type.

The LinkBuilder is used to construct a Link. It can be attached to a pre-existing Link in a KinematicTree or a Robot. Or a new KinematicTree can be started with this LinkBuilder as the blueprint for the root_link.

This will configure most of the link data:

• name: The string identifier (or name) of this Link. For practical purposes, it is recommended to use unique identifiers/names.
• visuals (0+): The builders for the Visual elements associated with this Link.
• colliders (0+): The builders for the Collision elements associated with this Link.
• joints (0+): The buiders for the child Joints of this Link. (This field should be/is assumed as empty on a bare LinkBuilder, but can optionally be non-empty in a Chained<LinkBuilder>)
  This field only be filled when reconstructing or yanking a pre-existing Link/Joint.
• inertial (Optional): The Inertial data for this Link.

Implementations

impl LinkBuilder

pub fn new(name: impl Into<String>) -> LinkBuilder

Create a new LinkBuilder with the specified name.

pub fn add_visual(self, visual: VisualBuilder) -> Self

Adds a VisualBuilder to this LinkBuilder.

pub fn add_collider(self, collider: CollisionBuilder) -> Self

Adds a CollisionBuilder to this LinkBuilder.

pub fn add_intertial(self, inertial: Inertial) -> Self

Sets the Inertial (inertial) of this LinkBuilder.

pub fn build_tree(self) -> KinematicTree

Creates a KinematicTree by building this LinkBuilder.

impl LinkBuilder

Non-builder methods

pub fn name(&self) -> &String

Gets a reference to the name of this LinkBuilder.

pub fn visuals(&self) -> &Vec<VisualBuilder>

Gets a reference to the visuals of this LinkBuilder.

pub fn visuals_mut(&mut self) -> &mut Vec<VisualBuilder>

Gets a mutable reference to the visuals of this LinkBuilder.

pub fn colliders(&self) -> &Vec<CollisionBuilder>

Gets a reference to the colliders of this LinkBuilder.

pub fn colliders_mut(&mut self) -> &mut Vec<CollisionBuilder>

Gets a mutable reference to the colliders of this LinkBuilder.

pub fn joints(&self) -> &Vec<JointBuilder>

Gets a reference to the joints of this LinkBuilder.

pub fn inertial(&self) -> Option<&Inertial>

Gets an optional reference to the Inertial of this LinkBuilder.

Trait Implementations

impl Clone for LinkBuilder

fn clone(&self) -> LinkBuilder

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for LinkBuilder

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

Formats the value using the given formatter.

impl Default for LinkBuilder

fn default() -> LinkBuilder

Returns the “default value” for a type.

impl From<Chained<LinkBuilder>> for LinkBuilder

fn from(value: Chained<LinkBuilder>) -> Self

Converts to this type from the input type.

impl From<LinkBuilder> for Chained<LinkBuilder>

Since Link’s can end a chain, a LinkBuilder can always be converted to a Chained<LinkBuilder>.

fn from(value: LinkBuilder) -> Self

Converts to this type from the input type.

impl GroupIDChanger for LinkBuilder

unsafe fn change_group_id_unchecked(&mut self, new_group_id: &str)

Unchecked replacement of the GroupID of the builder tree with new_group_id.

fn apply_group_id(&mut self)

Applies GroupID delimiter replacements.

fn change_group_id( &mut self, new_group_id: impl GroupID, ) -> Result<(), GroupIDError>

Replaces the GroupID of the builder tree with new_group_id.

impl PartialEq for LinkBuilder

fn eq(&self, other: &LinkBuilder) -> 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 StructuralPartialEq for LinkBuilder