Enum CuChainSpec 

pub enum CuChainSpec<const N: usize> {
    Preset(CuRobotPreset),
    Inline(CuKinematicChain<N>),
}

Source of a robot chain in RON: a preset name or an inline chain.

"chain": "igus_rebel"
"chain": {"joints": [ /* N CuJointSpec */ ], "tool_offset": /* optional */}

Variants

Preset(CuRobotPreset)

A named preset; its joint count is checked against N by Self::resolve.

Inline(CuKinematicChain<N>)

An explicit chain.

Implementations

impl<const N: usize> CuChainSpec<N>

pub fn resolve(&self) -> CuResult<CuKinematicChain<N>>

Builds and validates the chain.

Trait Implementations

impl<const N: usize> Clone for CuChainSpec<N>

fn clone(&self) -> CuChainSpec<N>

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl<const N: usize> Copy for CuChainSpec<N>

impl<const N: usize> Debug for CuChainSpec<N>

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

Formats the value using the given formatter.

impl<'de, const N: usize> Deserialize<'de> for CuChainSpec<N>

fn deserialize<D: Deserializer<'de>>(deserializer: D) -> Result<Self, D::Error>

Deserialize this value from the given Serde deserializer.

impl<const N: usize> From<CuKinematicChain<N>> for CuChainSpec<N>

fn from(chain: CuKinematicChain<N>) -> Self

Converts to this type from the input type.

impl<const N: usize> From<CuRobotPreset> for CuChainSpec<N>

fn from(preset: CuRobotPreset) -> Self

Converts to this type from the input type.

impl<const N: usize> PartialEq for CuChainSpec<N>

fn eq(&self, other: &CuChainSpec<N>) -> bool

Equality operator ==.

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

Inequality operator !=.

impl<const N: usize> Serialize for CuChainSpec<N>

fn serialize<S: Serializer>(&self, serializer: S) -> Result<S::Ok, S::Error>

Serialize this value into the given Serde serializer.

impl<const N: usize> StructuralPartialEq for CuChainSpec<N>