Struct ForwardDiffKinematicsSolver 

pub struct ForwardDiffKinematicsSolver { /* private fields */ }

Solver for forward differential kinematics. Calculate the velocity at any given joint from the current joint configuration and rate.

Implementations

impl ForwardDiffKinematicsSolver

pub fn default() -> Self

Create a default empty solver

pub fn new(in_chain: Chain) -> Self

Create a new solver from a given chain

pub fn solve_at_segment( &self, angles: &Vec<f64>, qdots: &Vec<f64>, segment_index: usize, ) -> Twist

Solver for forward differential kinematics at an arbitrary segment.
Computes the twist at the segment given the current chain state.

chain: Kinematic chain to use by the solver
angles: vector with the state at each joint
qdots: vector with the differential state at each joint
segment_index: at which segment to compute the velocity\

pub fn solve(&self, angles: &Vec<f64>, qdots: &Vec<f64>) -> Twist

Solver for forward differential kinematics at the end-effector
Uses the arbitrary segment solver with end-effector as default segment

Trait Implementations

impl Clone for ForwardDiffKinematicsSolver

fn clone(&self) -> ForwardDiffKinematicsSolver

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for ForwardDiffKinematicsSolver

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.