Struct urdf_rs::Joint

pub struct Joint {
    pub name: String,
    pub joint_type: JointType,
    pub origin: Pose,
    pub parent: LinkName,
    pub child: LinkName,
    pub axis: Axis,
    pub limit: JointLimit,
    pub dynamics: Option<Dynamics>,
    pub mimic: Option<Mimic>,
    pub safety_controller: Option<SafetyController>,
}

Urdf Joint element See http://wiki.ros.org/urdf/XML/joint for more detail.

Fields

name: String

joint_type: JointType

origin: Pose

parent: LinkName

child: LinkName

axis: Axis

limit: JointLimit

dynamics: Option<Dynamics>

mimic: Option<Mimic>

safety_controller: Option<SafetyController>

Trait Implementations

impl Clone for Joint

fn clone(&self) -> Joint

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for Joint

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

Formats the value using the given formatter.

impl YaDeserialize for Joint

fn deserialize<R: Read>(reader: &mut Deserializer<R>) -> Result<Self, String>

impl YaSerialize for Joint

fn serialize<W: Write>(&self, writer: &mut Serializer<W>) -> Result<(), String>

fn serialize_attributes( &self, source_attributes: Vec<OwnedAttribute>, source_namespace: Namespace ) -> Result<(Vec<OwnedAttribute>, Namespace), String>