Struct rubullet::UrdfOptions [−][src]
pub struct UrdfOptions {
pub base_transform: Isometry3<f64>,
pub use_fixed_base: bool,
pub use_maximal_coordinates: Option<bool>,
pub flags: LoadModelFlags,
pub global_scaling: f64,
}Expand description
Options for loading a URDF into the physics server.
Fields
base_transform: Isometry3<f64>Creates the base of the object with the given transform.
use_fixed_base: boolForces the base of the loaded object to be static.
use_maximal_coordinates: Option<bool>Experimental. By default, the joints in the URDF file are created using the reduced coordinate method: the joints are simulated using the Featherstone Articulated Body Algorithm (ABA, btMultiBody in Bullet 2.x). The use_maximal_coordinates option will create a 6 degree of freedom rigid body for each link, and constraints between those rigid bodies are used to model joints.
flags: LoadModelFlagsFlags for loading the model.
global_scaling: f64Applies a scale factor to the model.
Trait Implementations
Returns the “default value” for a type. Read more
Auto Trait Implementations
impl RefUnwindSafe for UrdfOptionsimpl Send for UrdfOptionsimpl Sync for UrdfOptionsimpl Unpin for UrdfOptionsimpl UnwindSafe for UrdfOptionsBlanket 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