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// Copyright (c) 2019 Autonomous Robots and Cognitive Systems Laboratory // Author: Daniel Garcia-Vaglio <degv364@gmail.com> // // This program is free software: you can redistribute it and/or modify // it under the terms of the GNU General Public License as published by // the Free Software Foundation, either version 3 of the License, or // (at your option) any later version. // // This program is distributed in the hope that it will be useful, // but WITHOUT ANY WARRANTY; without even the implied warranty of // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the // GNU General Public License for more details. // // You should have received a copy of the GNU General Public License // along with this program. If not, see <http://www.gnu.org/licenses/>. #![doc(html_logo_url = "https://assets.gitlab-static.net/uploads/-/system/project/avatar/12217395/arcos-kdl-logo.png?width=128", html_favicon_url = "https://assets.gitlab-static.net/uploads/-/system/project/avatar/12217395/arcos-kdl-logo.png?width=128")] #![deny(missing_docs)] /*! # ARCOS-KDL ## ARCOS-Lab Kinematics and Dynamic Library. arcos-kdl has been designed to be as similar as possible to [orocos-kdl](http://www.orocos.org/wiki/orocos/kdl-wiki) ## Building Execute: ```.bash cargo build --lib ``` ## Testing Execute: ```.bash cargo test ``` ## Documentation Execute: ```.bash cargo doc ``` ## Examples: ### Forward velocity kinematics Given the current state at each joint we want to calculate the velocity at the end-effector. ```.rust extern crate arcos_kdl; use arcos_kdl::prelude::*; fn main() { println!("Documentation!"); } ``` */ /// Basic geometric constructs like Homogeneous transformations pub mod geometry; /// Implementation of robotic Joints pub mod joint; /// Implementation of kinematic chain segments pub mod segment; /// Implementation of Hexadimensional kinematic Jacobians pub mod jacobian; /// Implementation of Kinematic chains pub mod chains; /// Forward kinematics solver pub mod forward_kinematics; /// Forward kinematics differential solver pub mod forward_diff_kinematics; /// Inverse Kinematics differential solver pub mod inverse_diff_kinematics; /// Special SVD computation algorithm pub mod svd_eigen; /// Re-exporting usefull stuff pub mod prelude { pub use crate::geometry::{ Frame, Twist, Introspection, EulerBuild, add_delta, diff, new_ref_point, new_ref_base, new_ref_frame, invert_frame}; pub use crate::joint::{JointType, Joint}; pub use crate::segment::{Segment}; pub use crate::jacobian::{Jacobian, JointOperations}; pub use crate::chains::Chain; pub use crate::forward_kinematics::ForwardKinematicsSolver; pub use crate::forward_diff_kinematics::{ ForwardDiffKinematicsSolver}; pub use crate::inverse_diff_kinematics::{ InverseDiffKinematicsSolver}; }