Struct Joint

pub struct Joint { /* private fields */ }

Implementations

impl Joint

pub fn name(&self) -> &String

pub fn joint_type(&self) -> JointType

pub fn parent_link(&self) -> Arc<RwLock<Link>>

Returns a reference to the parent Link

TODO: ADD EXAMPLE

For now pub crate, this should maybe go to joint trait

pub fn child_link(&self) -> Arc<RwLock<Link>>

For now pub crate, this should maybe go to joint trait Is this even necessary?

pub fn transform(&self) -> &Transform

pub fn axis(&self) -> Option<(f32, f32, f32)>

pub fn rebuild(&self) -> JointBuilder

Make a JointBuilder to build a ‘Clone’ of the Joint.

This method does not clone the child of the Joint, only the Joint is self.

If the whole branch needs to be copied use rebuild_branch.

pub fn rebuild_branch( &self, ) -> Result<Chained<JointBuilder>, RebuildBranchError>

pub fn get_self(&self) -> Arc<RwLock<Joint>>

Gets a (strong) refence to the current Joint. (An Arc<RwLock<Joint>>)

pub fn get_weak_self(&self) -> Weak<RwLock<Joint>>

Gets a weak refence to the current Joint. (An Weak<RwLock<Joint>>)

Trait Implementations

impl Debug for Joint

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

Formats the value using the given formatter.

impl PartialEq for Joint

TODO: Maybe remove some fields from check, since it will always match if name and tree are true

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 Joint

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

Represents the element as in URDF format.