Crate arcos_kdl

ARCOS-KDL

ARCOS-Lab Kinematics and Dynamic Library.

arcos-kdl has been designed to be as similar as possible to orocos-kdl

Building

Execute:

    cargo build --lib

Testing

Execute:

    cargo test

Documentation

Execute:

   cargo doc

Examples:

Forward velocity kinematics

Given the current state at each joint we want to calculate the velocity at the end-effector.

extern crate arcos_kdl;

use arcos_kdl::prelude::*;
fn main() {

    println!("Documentation!");
}

Modules

chains

Implementation of Kinematic chains

forward_diff_kinematics

Forward kinematics differential solver

forward_kinematics

Forward kinematics solver

geometry

Basic geometric constructs like Homogeneous transformations

inverse_diff_kinematics

Inverse Kinematics differential solver

jacobian

Implementation of Hexadimensional kinematic Jacobians

joint

Implementation of robotic Joints

kinematic_arm

Implementation of a kinematic robotic arm

prelude

Re-exporting usefull stuff

segment

Implementation of kinematic chain segments

svd_eigen

Special SVD computation algorithm