Crate k

Kinematics(forward/inverse) library using nalgebra.

k has below functionalities

1. Forward kinematics
2. Inverse kinematics
3. URDF Loader

See Chain as the top level interface.

Re-exports

pub use self::joint::Joint;

pub use self::joint::JointType;

pub use self::link::Link;

pub use self::node::JointBuilder;

pub use self::node::Node;

Modules

iterator	Iterators to iterate descendants and ancestors
joint	Joint related structs
link	link can be used to show the shape of the robot, or collision checking libraries.
node	graph structure for kinematic chain
prelude	Load basic trais of k
urdf	Load URDF format and create k::Chain

Macros

connect

set parents easily

Structs

Chain	Kinematic Chain using Node
Constraints	true means the constraint is used. The coordinates is the world, not the end of the arm.
JacobianIKSolver	Inverse Kinematics Solver using Jacobian matrix
SerialChain	Kinematic chain without any branch.

Enums

IKError	The reason of the fail of inverse kinematics
JointError	The reason of joint error

Traits

InverseKinematicsSolver	IK solver
Real	Trait shared by all reals.

Functions

center_of_mass	Calculate the center of mass of the chain
jacobian	Calculate Jacobian of the serial chain (manipulator).

Type Definitions

Isometry3	A 3-dimensional isometry using a unit quaternion for its rotational part.
Translation3	A 3-dimensional translation.
UnitQuaternion	A unit quaternions. May be used to represent a rotation.
Vector3	A stack-allocated, 3-dimensional column vector.