Struct robot_description_builder::Joint
source · pub struct Joint { /* private fields */ }
Implementations§
source§impl Joint
impl Joint
pub fn name(&self) -> &String
pub fn joint_type(&self) -> JointType
sourcepub fn parent_link(&self) -> Arc<RwLock<Link>>
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
sourcepub fn child_link(&self) -> Arc<RwLock<Link>>
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)>
sourcepub fn rebuild(&self) -> JointBuilder
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>
sourcepub fn get_self(&self) -> Arc<RwLock<Joint>>
pub fn get_self(&self) -> Arc<RwLock<Joint>>
Gets a (strong) refence to the current Joint
. (An Arc<RwLock<Joint>>
)
sourcepub fn get_weak_self(&self) -> Weak<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§
Auto Trait Implementations§
impl RefUnwindSafe for Joint
impl Send for Joint
impl Sync for Joint
impl Unpin for Joint
impl UnwindSafe for Joint
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.