Struct arcos_kdl::chains::Chain

pub struct Chain { /* fields omitted */ }

Implementation of kinematic chains

segments: a vector with the segments of the chain
num_joints: number of joints (segments with movable joints)
num_ind_joints: Number of joints with independent movement
num_unlocked_joints: Num of enabled/unlocked joints
locked_joints: vector with bools indicating if the joint is locked
coupling_matrix: matrix correlating the joints with their couples\

Methods

impl Chain

pub fn default() -> Chain

Default empty chain

pub fn get_num_segments(&self) -> usize

Returns the total number of segments

pub fn get_num_joints(&self) -> usize

Returns the number of segments with moveable joints

pub fn get_num_ind_joints(&self) -> usize

Returns the number of Independent moveable joints

pub fn get_coupling_matrix(&self) -> DMatrix<f64>

Returns the coupling matrix

pub fn add_segment(&mut self, segment: Segment)

Add a new semgment at the end of the kinematic chain
(Where the end is where the end-effector would be)

pub fn add_chain(&mut self, chain: Chain)

Append an entire chain at the end of this chain

pub fn get_segment(&self, index: usize) -> Segment

Get the segment at the index-th position

pub fn get_locked_joints(&self) -> Vec<bool>

Get the vector with lock information

pub fn set_coupling(
    &mut self,
    new_locked_joints: Vec<bool>,
    new_coupling_matrix: DMatrix<f64>
)

Set coupling information, locked joints and coupling relations

Trait Implementations

impl Clone for Chain

fn clone(&self) -> Chain

Returns a copy of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.