Module k::urdf

Load URDF format and create k::JointWithLinTree

k::urdf uses urdf-rs to load urdf model. k::urdf converts urdf_rs::Robot to k::LinkTree or k::LinkStar

Examples

use k::InverseKinematicsSolver;
use k::KinematicChain;
let robot = k::urdf::create_tree_from_file("urdf/sample.urdf").unwrap();
let mut arms = k::create_kinematic_chains(&robot);
// set joint angles
let angles = vec![0.8, 0.2, 0.0, -1.5, 0.0, -0.3];
arms[0].set_joint_angles(&angles).unwrap();
// get the transform of the end of the manipulator (forward kinematics)
let mut target = arms[0].calc_end_transform();
target.translation.vector[2] += 0.1;
let solver = k::JacobianIKSolverBuilder::new().finalize();
// solve and move the manipulator angles
solver.solve(&mut arms[0], &target)
      .unwrap_or_else(|err| {
                            println!("Err: {}", err);
                            0.0f32
                            });
println!("angles={:?}", arms[0].get_joint_angles());

Functions

create_star	Create LinkStar from urdf_rs::Robot
create_star_from_file	Create LinkStar from URDF file
create_tree	Create LinkTree from urdf_rs::Robot
create_tree_from_file	Create LinkTree from URDF file