[−][src]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 |