Struct robot_description_builder::JointBuilder

pub struct JointBuilder { /* private fields */ }

Implementations

impl JointBuilder

pub fn new(name: impl Into<String>, joint_type: JointType) -> Self

pub fn add_origin_offset(self, offset: (f32, f32, f32)) -> Self

pub fn add_origin_rotation(self, rotation: (f32, f32, f32)) -> Self

pub fn set_transform_simple(&mut self, transform: Transform)

pub fn with_axis(&mut self, axis: (f32, f32, f32))

Add the axis to the JointBuillder.

impl JointBuilder

Non Builder functions

pub fn name(&self) -> &String

pub fn joint_type(&self) -> &JointType

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

pub fn transform_mut(&mut self) -> Option<&mut Transform>

pub fn child(&self) -> Option<&LinkBuilder>

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

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

pub fn calibration(&self) -> &CalibrationData

pub fn calibration_mut(&mut self) -> &mut CalibrationData

pub fn dynamics(&self) -> &DynamicsData

pub fn dynamics_mut(&mut self) -> &mut DynamicsData

pub fn limit(&self) -> Option<&LimitData>

pub fn limit_mut(&mut self) -> &mut Option<LimitData>

pub fn mimic(&self) -> Option<&MimicBuilderData>

pub fn mimic_mut(&mut self) -> &mut Option<MimicBuilderData>

pub fn safety_controller(&self) -> Option<&SafetyControllerData>

pub fn safety_controller_mut(&mut self) -> &mut Option<SafetyControllerData>

Trait Implementations

impl Clone for JointBuilder

fn clone(&self) -> JointBuilder

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for JointBuilder

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

Formats the value using the given formatter.

impl Default for JointBuilder

fn default() -> JointBuilder

Returns the “default value” for a type.

impl<Axis, Calibration, Dynamics, Limit, Mimic, SafetyController> From<SmartJointBuilder<ContinuousType, Axis, Calibration, Dynamics, Limit, Mimic, SafetyController>> for JointBuilder

where Axis: AxisDataType, Calibration: CalibrationDataType, Dynamics: DynamicsDataType, Limit: LimitDataType, Mimic: MimicDataType, SafetyController: SafetyControllerDataType,

fn from( value: SmartJointBuilder<ContinuousType, Axis, Calibration, Dynamics, Limit, Mimic, SafetyController> ) -> Self

Converts to this type from the input type.

impl From<SmartJointBuilder<FixedType, NoAxis, NoCalibration, NoDynamics, NoLimit, NoMimic, NoSafetyController>> for JointBuilder

fn from( value: SmartJointBuilder<FixedType, NoAxis, NoCalibration, NoDynamics, NoLimit, NoMimic, NoSafetyController> ) -> Self

Converts to this type from the input type.

impl From<SmartJointBuilder<FloatingType, NoAxis, NoCalibration, NoDynamics, NoLimit, NoMimic, NoSafetyController>> for JointBuilder

fn from( value: SmartJointBuilder<FloatingType, NoAxis, NoCalibration, NoDynamics, NoLimit, NoMimic, NoSafetyController> ) -> Self

Converts to this type from the input type.

impl<Axis, Calibration, Dynamics, Limit, Mimic, SafetyController> From<SmartJointBuilder<PlanarType, Axis, Calibration, Dynamics, Limit, Mimic, SafetyController>> for JointBuilder

where Axis: AxisDataType, Calibration: CalibrationDataType, Dynamics: DynamicsDataType, Limit: LimitDataType, Mimic: MimicDataType, SafetyController: SafetyControllerDataType,

fn from( value: SmartJointBuilder<PlanarType, Axis, Calibration, Dynamics, Limit, Mimic, SafetyController> ) -> Self

Converts to this type from the input type.

impl<Axis, Calibration, Dynamics, Mimic, SafetyController> From<SmartJointBuilder<PrismaticType, Axis, Calibration, Dynamics, WithLimit, Mimic, SafetyController>> for JointBuilder

where Axis: AxisDataType, Calibration: CalibrationDataType, Dynamics: DynamicsDataType, Mimic: MimicDataType, SafetyController: SafetyControllerDataType,

fn from( value: SmartJointBuilder<PrismaticType, Axis, Calibration, Dynamics, WithLimit, Mimic, SafetyController> ) -> Self

Converts to this type from the input type.

impl<Axis, Calibration, Dynamics, Mimic, SafetyController> From<SmartJointBuilder<RevoluteType, Axis, Calibration, Dynamics, WithLimit, Mimic, SafetyController>> for JointBuilder

where Axis: AxisDataType, Calibration: CalibrationDataType, Dynamics: DynamicsDataType, Mimic: MimicDataType, SafetyController: SafetyControllerDataType,

fn from( value: SmartJointBuilder<RevoluteType, Axis, Calibration, Dynamics, WithLimit, Mimic, SafetyController> ) -> Self

Converts to this type from the input type.

impl GroupIDChanger for JointBuilder

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 JointBuilder

fn eq(&self, other: &JointBuilder) -> bool

This method tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

This method tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl StructuralPartialEq for JointBuilder