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
prelude	Re-exporting usefull stuff
segment	Implementation of kinematic chain segments
svd_eigen	Special SVD computation algorithm