Struct robot_description_builder::KinematicTree

pub struct KinematicTree(/* private fields */);

A representation of a basic Kinematic structure.

KinematicTree’s can be made from a single LinkBuilder by its build_tree() method.

A KinematicTree can be upgraded to a Robot by calling to_robot. This will allow the Robot to be exported to all supported Robot Description Formats.

Implementations

impl KinematicTree

pub fn to_robot(self, name: impl Into<String>) -> Robot

Converts this unnamed KinematicTree to a Robot, which can be represents a more finalized robot structure.

Trait Implementations

impl Clone for KinematicTree

fn clone(&self) -> Self

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for KinematicTree

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

Formats the value using the given formatter.

impl<T: BuildLink> From<T> for KinematicTree

fn from(value: T) -> Self

Converts to this type from the input type.

impl KinematicInterface for KinematicTree

fn get_root_link(&self) -> Arc<RwLock<Link>>

Returns the root link of the Kinematic Tree

fn get_newest_link(&self) -> Arc<RwLock<Link>>

Returns the newest link of the Kinematic Tree

fn get_links(&self) -> Arc<RwLock<HashMap<String, Weak<RwLock<Link>>>>>

Retrieves the Link-index of the Kinematic structure.

fn get_joints(&self) -> Arc<RwLock<HashMap<String, Weak<RwLock<Joint>>>>>

Retrieves the Joint-index of the Kinematic structure.

fn get_materials( &self ) -> Arc<RwLock<HashMap<String, Arc<RwLock<MaterialData>>>>>

fn get_link(&self, name: &str) -> Option<Arc<RwLock<Link>>>

Get the Link with the specified name.

fn get_joint(&self, name: &str) -> Option<Arc<RwLock<Joint>>>

Get the Joint with the specified name.

fn get_material(&self, name: &str) -> Option<Material>

Get the Material with the specified name.

fn purge_links(&self)

Cleans up orphaned/broken Link entries from the links HashMap.

fn purge_joints(&self)

Cleans up orphaned/broken Joint entries from the joints HashMap.

fn purge_materials( &self ) -> Result<(), PoisonError<RwLockWriteGuard<'_, HashMap<String, Arc<RwLock<MaterialData>>>>>>

Cleans up orphaned/unused Material entries from material_index HashMap

fn yank_link(&self, name: &str) -> Option<Chained<LinkBuilder>>

fn yank_root(self) -> Result<Chained<LinkBuilder>, YankLinkError>

Cosumes the KinematicInterface implementor and creates a Chained<LinkBuilder> to rebuild it.

fn yank_joint(&self, name: &str) -> Option<Chained<JointBuilder>>