Struct CuUrdfImport 

pub struct CuUrdfImport<'a> {
    pub base_link: &'a str,
    pub tip_link: &'a str,
    pub collision: CuCollisionModelParams,
}

Named inputs of CuRobotDescription::from_urdf.

CuUrdfImport::new("base", "tool").with_collision(CuCollisionModelParams {
    safety_margin: Length::new::<meter>(0.005),
    skip_adjacent_links: false,
})

Fields

base_link: &'a str

URDF link where the serial chain starts.

tip_link: &'a str

URDF link where the serial chain ends (the tool frame).

collision: CuCollisionModelParams

Collision model parameters. Default: zero margin, skip_adjacent_links: false.

Implementations

impl<'a> CuUrdfImport<'a>

pub fn new(base_link: &'a str, tip_link: &'a str) -> Self

Selects the base_link to tip_link path with default collision parameters.

pub const fn with_collision(self, collision: CuCollisionModelParams) -> Self

Replaces the collision model parameters.

Trait Implementations

impl<'a> Clone for CuUrdfImport<'a>

fn clone(&self) -> CuUrdfImport<'a>

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl<'a> Copy for CuUrdfImport<'a>

impl<'a> Debug for CuUrdfImport<'a>

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

Formats the value using the given formatter.

impl<'a> PartialEq for CuUrdfImport<'a>

fn eq(&self, other: &CuUrdfImport<'a>) -> bool

Equality operator ==.

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

Inequality operator !=.

impl<'a> StructuralPartialEq for CuUrdfImport<'a>