Struct PositionedRobot

pub struct PositionedRobot<'a> {
    pub joints: Vec<PositionedJoint<'a>>,
    pub tool: Option<PositionedJoint<'a>>,
    pub environment: Vec<&'a CollisionBody>,
}

Struct representing a robot with positioned joints. It contains a vector of references to PositionedJoint, where each joint has its precomputed global transform.

This struct is useful when performing operations that require knowing the precomputed positions and orientations of all the joints in the robot, such as forward kinematics, inverse kinematics, and collision detection.

Fields

joints: Vec<PositionedJoint<'a>>

A vector of references to PositionedJoint, representing the joints and their precomputed transforms.

tool: Option<PositionedJoint<'a>>

environment: Vec<&'a CollisionBody>