Struct Link

pub struct Link { /* private fields */ }

A Link in a Kinematic Structure.

A Link is an element of a KinematicInterface Implementor (for now KinematicTree and Robot).

A Link can be created from a LinkBuilder, which can be created by the builder method.

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 Visual elements associated with this Link.
• colliders (0+): The Collision elements associated with this Link.
• joints (0+): The child Joints of this Link. A Joint can be attached together with its child, using the methods mentioned in the Building section.
• inertial (Optional): The Inertial data for this Link.

Building

A Joint and its child Link can only be attached to a Link/KinematicTree in one go, to prevent (invalid) leaf Joints and disconnected Links. The following methods can be used to attach a branch:

• attach_joint_chain: Attach a Chained<JointBuilder> to the current Link.
• attach_joint_chain_at: Attach a Chained<JointBuilder> to the current Link with the specified Transform.
• try_attach_child: Attach a Link(chain) via a specified Joint.

Implementations

impl Link

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

Create a new LinkBuilder with the specified name.

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

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

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

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

pub fn parent(&self) -> &LinkParent

Gets the reference to the LinkParent of the current Link

pub fn name(&self) -> &String

Gets the reference to the name of the Link

Example

let tree = LinkBuilder::new("my-link").build_tree();

assert_eq!(tree.get_root_link().try_read().unwrap().name(), "my-link")

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

Returns a reference to the joints of this Link.

The vector contains all Joints connected to this Link, wrapped in a Arc<RwLock<T>>.

pub fn try_attach_child<LinkChain>( &mut self, joint_builder: impl BuildJoint, link_chain: LinkChain, ) -> Result<(), AttachChainError>

where LinkChain: Into<Chained<LinkBuilder>>,

pub fn attach_joint_chain_at( &mut self, joint_chain: Chained<JointBuilder>, transform: Transform, ) -> Result<(), AttachChainError>

pub fn attach_joint_chain( &mut self, joint_chain: Chained<JointBuilder>, ) -> Result<(), AttachChainError>

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

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

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

pub fn rebuild(&self) -> LinkBuilder

Make a LinkBuilder to build a ‘Clone’ of the Link.

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

If the whole branch needs to be copied use rebuild_branch.

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

Trait Implementations

impl Debug for Link

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

Formats the value using the given formatter.

impl PartialEq for Link

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 Link

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

Represents the element as in URDF format.