Struct CuLinkShape 

pub struct CuLinkShape {
    pub shape: CuCollisionShape,
    pub frame: Option<usize>,
}

A robot collision shape and the frame it is expressed in.

frame is a joint-frame index (0..N, as produced by CuKinematicChain::forward_frames) or None for the robot base frame.

RON: {"shape": {"sphere": {...}}, "frame": 2}; omit frame for the base frame.

Fields

shape: CuCollisionShape

Geometry in the local coordinates of frame.

frame: Option<usize>

Joint-frame index, or None for the base frame.

Implementations

impl CuLinkShape

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

Creates a link shape on frame (None = base frame).

Trait Implementations

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

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 CuLinkShape

fn clone(&self) -> CuLinkShape

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for CuLinkShape

impl Debug for CuLinkShape

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

Formats the value using the given formatter.

impl<__Context> Decode<__Context> for CuLinkShape

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

Attempt to decode this type with the given Decode.

impl Default for CuLinkShape

fn default() -> CuLinkShape

Returns the “default value” for a type.

impl<'de> Deserialize<'de> for CuLinkShape

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

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl Encode for CuLinkShape

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

Encode a given type.

impl PartialEq for CuLinkShape

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

Equality operator ==.

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

Inequality operator !=.

impl Serialize for CuLinkShape

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 CuLinkShape

impl TypePath for CuLinkShape

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>