Struct rubullet::MultiBodyOptions [−][src]
pub struct MultiBodyOptions {Show fields
pub base_mass: f64,
pub base_pose: Isometry3<f64>,
pub base_inertial_frame_pose: Isometry3<f64>,
pub link_masses: Vec<f64>,
pub link_collision_shapes: Vec<CollisionId>,
pub link_visual_shapes: Vec<VisualId>,
pub link_poses: Vec<Isometry3<f64>>,
pub link_inertial_frame_poses: Vec<Isometry3<f64>>,
pub link_parent_indices: Vec<i32>,
pub link_joint_types: Vec<JointType>,
pub link_joint_axis: Vec<Vector3<f64>>,
pub use_maximal_coordinates: bool,
pub flags: Option<LoadModelFlags>,
}Expand description
Specifies all options for create_multi_body.
Most of the the time you are probably fine using MultiBodyOptions::default() or just setting
the base_pose and/or mass
Fields
base_mass: f64mass of the base, in kg (if using SI units)
base_pose: Isometry3<f64>Cartesian world pose of the base
base_inertial_frame_pose: Isometry3<f64>Local pose of inertial frame
link_masses: Vec<f64>List of the mass values, one for each link.
link_collision_shapes: Vec<CollisionId>List of the collision shape unique id, one for each link.
Use CollisionId::NONE if you do not want to have a collision shape.
link_visual_shapes: Vec<VisualId>List of the visual shape unique id, one for each link.
Use VisualId::NONE if you do not want to set a visual shape.
link_poses: Vec<Isometry3<f64>>list of local link poses, with respect to parent
link_inertial_frame_poses: Vec<Isometry3<f64>>list of local inertial frame poses, in the link frame
link_parent_indices: Vec<i32>Link index of the parent link or 0 for the base.
link_joint_types: Vec<JointType>list of joint types, one for each link.
link_joint_axis: Vec<Vector3<f64>>List of joint axis in local frame
use_maximal_coordinates: boolexperimental, best to leave it false.
flags: Option<LoadModelFlags>similar to the flags passed in load_urdf, for example URDF_USE_SELF_COLLISION.
See LoadModelFlags for flags explanation.
Trait Implementations
Auto Trait Implementations
impl RefUnwindSafe for MultiBodyOptionsimpl Send for MultiBodyOptionsimpl Sync for MultiBodyOptionsimpl Unpin for MultiBodyOptionsimpl UnwindSafe for MultiBodyOptionsBlanket Implementations
Mutably borrows from an owned value. Read more
type Output = T
type Output = TShould always be Self
The inverse inclusion map: attempts to construct self from the equivalent element of its
superset. Read more
pub fn is_in_subset(&self) -> bool
pub fn is_in_subset(&self) -> boolChecks if self is actually part of its subset T (and can be converted to it).
pub fn to_subset_unchecked(&self) -> SS
pub fn to_subset_unchecked(&self) -> SSUse with care! Same as self.to_subset but without any property checks. Always succeeds.
pub fn from_subset(element: &SS) -> SP
pub fn from_subset(element: &SS) -> SPThe inclusion map: converts self to the equivalent element of its superset.
pub fn vzip(self) -> V