Struct k::node::NodeBuilder

pub struct NodeBuilder<T: RealField> { /* private fields */ }

Build a Link<T>

Examples

use k::*;
let l0 = NodeBuilder::new()
    .name("link_pitch")
    .translation(Translation3::new(0.0, 0.1, 0.0))
    .joint_type( JointType::Rotational{axis: Vector3::y_axis()})
    .finalize();
println!("{l0:?}");

Implementations

impl<T> NodeBuilder<T>

where T: RealField + SubsetOf<f64>,

pub fn new() -> NodeBuilder<T>

pub fn name(self, name: &str) -> NodeBuilder<T>

Set the name of the Link

pub fn joint_type(self, joint_type: JointType<T>) -> NodeBuilder<T>

Set the joint which is connected to this link

pub fn limits(self, limits: Option<Range<T>>) -> NodeBuilder<T>

Set joint limits

pub fn origin(self, origin: Isometry3<T>) -> NodeBuilder<T>

Set the origin transform of this joint

pub fn translation(self, translation: Translation3<T>) -> NodeBuilder<T>

Set the translation of the origin transform of this joint

pub fn rotation(self, rotation: UnitQuaternion<T>) -> NodeBuilder<T>

Set the rotation of the origin transform of this joint

pub fn finalize(self) -> Joint<T>

Create Joint instance

pub fn into_node(self) -> Node<T>

Create Node instead of Joint as output

Trait Implementations

impl<T: Clone + RealField> Clone for NodeBuilder<T>

fn clone(&self) -> NodeBuilder<T>

Returns a copy of the value.

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

Performs copy-assignment from source.

impl<T: Debug + RealField> Debug for NodeBuilder<T>

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

Formats the value using the given formatter.

impl<T> Default for NodeBuilder<T>

where T: RealField + SubsetOf<f64>,

fn default() -> Self

Returns the “default value” for a type.