Struct urdf_viz::app::Opt

#[non_exhaustive]
pub struct Opt {

    pub input_urdf_or_xacro: String,
    pub xacro_arguments: Vec<(String, String)>,
    pub end_link_names: Vec<String>,
    pub is_collision: bool,
    pub disable_texture: bool,
    pub web_server_port: Option<u16>,
    pub ignore_ik_position_x: bool,
    pub ignore_ik_position_y: bool,
    pub ignore_ik_position_z: bool,
    pub ignore_ik_rotation_x: bool,
    pub ignore_ik_rotation_y: bool,
    pub ignore_ik_rotation_z: bool,
    pub back_ground_color_r: f32,
    pub back_ground_color_g: f32,
    pub back_ground_color_b: f32,
    pub tile_color1_r: f32,
    pub tile_color1_g: f32,
    pub tile_color1_b: f32,
    pub tile_color2_r: f32,
    pub tile_color2_g: f32,
    pub tile_color2_b: f32,
    pub ground_height: Option<f32>,
    pub package_path: Vec<String>,
    pub hide_menu: bool,
    pub axis_scale: f32,
    pub move_base_diff_unit: f32,
    pub move_joint_diff_unit: f32,
}

Option for visualizing urdf

Fields (Non-exhaustive)

Non-exhaustive structs could have additional fields added in future. Therefore, non-exhaustive structs cannot be constructed in external crates using the traditional Struct { .. } syntax; cannot be matched against without a wildcard ..; and struct update syntax will not work.

input_urdf_or_xacro: String

Input urdf or xacro

xacro_arguments: Vec<(String, String)>

Xacro arguments

end_link_names: Vec<String>

end link names

is_collision: bool

Show collision element instead of visual

disable_texture: bool

Disable texture rendering

web_server_port: Option<u16>

Port number for web server interface (default to 7777)

ignore_ik_position_x: bool

ignore_ik_position_y: bool

ignore_ik_position_z: bool

ignore_ik_rotation_x: bool

ignore_ik_rotation_y: bool

ignore_ik_rotation_z: bool

back_ground_color_r: f32

back_ground_color_g: f32

back_ground_color_b: f32

tile_color1_r: f32

tile_color1_g: f32

tile_color1_b: f32

tile_color2_r: f32

tile_color2_g: f32

tile_color2_b: f32

ground_height: Option<f32>

package_path: Vec<String>

Replace package://PACKAGE in mesh tag with PATH.

hide_menu: bool

Hide the menu by default.

axis_scale: f32

move_base_diff_unit: f32

move_joint_diff_unit: f32

Implementations

impl Opt

pub fn create_ik_constraints(&self) -> Constraints

pub fn create_package_path_map(&self) -> Result<HashMap<String, String>, Error>

Trait Implementations

impl Debug for Opt

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

Formats the value using the given formatter.

impl<'de> Deserialize<'de> for Opt

fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl StructOpt for Opt

fn clap<'a, 'b>() -> App<'a, 'b>

Returns clap::App corresponding to the struct.

fn from_clap(matches: &ArgMatches<'_>) -> Self

Builds the struct from clap::ArgMatches. It’s guaranteed to succeed if matches originates from an App generated by StructOpt::clap called on the same type, otherwise it must panic.

fn from_args() -> Self

where Self: Sized,

Builds the struct from the command line arguments (std::env::args_os). Calls clap::Error::exit on failure, printing the error message and aborting the program.

fn from_args_safe() -> Result<Self, Error>

where Self: Sized,

Builds the struct from the command line arguments (std::env::args_os). Unlike StructOpt::from_args, returns clap::Error on failure instead of aborting the program, so calling .exit is up to you.

fn from_iter<I>(iter: I) -> Self

where Self: Sized, I: IntoIterator, <I as IntoIterator>::Item: Into<OsString> + Clone,

Gets the struct from any iterator such as a Vec of your making. Print the error message and quit the program in case of failure.

fn from_iter_safe<I>(iter: I) -> Result<Self, Error>

where Self: Sized, I: IntoIterator, <I as IntoIterator>::Item: Into<OsString> + Clone,

Gets the struct from any iterator such as a Vec of your making.