Module tree 

tree: a part’s mechanism as a URDF robot’s tree of links — which placed parts move as one link, and which joint carries each link on the one before it — or why it is none.

Parts held together by mates alone — constraints and fastened joints — move as one, so they make one link; so do the parts the mates hold to the ground (the fixed parts), which make the root, and a pattern’s copies with the part each copies. That only holds if those mates hold them rigidly: where they leave a part free to move, the motion is one no URDF joint names, and the export is refused. The revolute and slider joints between links must then form a tree hanging from the root: a joint closing a loop, or a link no joint reaches, is refused too, by name.

Structs

LinkBodies

The bodies of one link, by index in the mechanism, and its name: the first of its parts — for the root, the first fixed one, or base.

Tree

The links of a mechanism and the joints between them.

TreeJoint

A joint of the mechanism (by index) carrying the link child on the link parent (by index in Tree::links); forward if its first end is on the parent.

Functions

check_rigid

Refuses parts that mates alone hold together but not rigidly: those of mechanism that freedom — how free each placed part is, by name, with every joint held at its coordinates — says can still move. Of the links of tree, which hold every part.

tree

The tree of links mechanism makes (see the module docs) — not yet checked for links mates hold loosely (see check_rigid).