Struct CuAttachedShape 

pub struct CuAttachedShape {
    pub id: CuObjectId,
    pub frame: Option<usize>,
    pub shape: CuCollisionShape,
}

A collision shape rigidly attached to a robot frame or the base.

Fields

id: CuObjectId

Stable typed identifier of this attached object.

frame: Option<usize>

Joint-frame index this shape is attached to (0..N), or None for the base frame.

shape: CuCollisionShape

Collision geometry expressed in the local coordinates of frame.

Implementations

impl CuAttachedShape

pub fn new( id: CuObjectId, frame: Option<usize>, shape: CuCollisionShape, ) -> CuResult<Self>

Creates an attached shape, validating ID and geometry. The frame index is checked against the robot when the shape is used.

pub fn with_transform( self, frame_from_shape: &Transform3D<f64>, ) -> CuResult<Self>

Re-expresses the shape through a frame-relative transform (frame_from_shape), rejecting non-finite transforms and results.

Trait Implementations

impl<'__de, __Context> BorrowDecode<'__de, __Context> for CuAttachedShape

fn borrow_decode<__D: BorrowDecoder<'__de, Context = __Context>>( decoder: &mut __D, ) -> Result<Self, DecodeError>

Attempt to decode this type with the given BorrowDecode.

impl Clone for CuAttachedShape

fn clone(&self) -> CuAttachedShape

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for CuAttachedShape

impl Debug for CuAttachedShape

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

Formats the value using the given formatter.

impl<__Context> Decode<__Context> for CuAttachedShape

fn decode<__D: Decoder<Context = __Context>>( decoder: &mut __D, ) -> Result<Self, DecodeError>

Attempt to decode this type with the given Decode.

impl Default for CuAttachedShape

fn default() -> CuAttachedShape

Returns the “default value” for a type.

impl<'de> Deserialize<'de> for CuAttachedShape

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

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl Encode for CuAttachedShape

fn encode<__E: Encoder>(&self, encoder: &mut __E) -> Result<(), EncodeError>

Encode a given type.

impl PartialEq for CuAttachedShape

fn eq(&self, other: &CuAttachedShape) -> bool

Equality operator ==.

fn ne(&self, other: &Rhs) -> bool

Inequality operator !=.

impl Serialize for CuAttachedShape

fn serialize<__S>(&self, __serializer: __S) -> Result<__S::Ok, __S::Error>

where __S: Serializer,

Serialize this value into the given Serde serializer.

impl StructuralPartialEq for CuAttachedShape

impl TypePath for CuAttachedShape

fn type_path() -> &'static str

fn short_type_path() -> &'static str

fn type_ident() -> Option<&'static str>

fn crate_name() -> Option<&'static str>

fn module_path() -> Option<&'static str>