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::link::Link;

pub use self::node::Node;

pub use self::node::NodeBuilder;

pub use nalgebra;

pub use simba;

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 traits of k

urdf

Load URDF format and create k::Chain

Macros

connect

set parents easily

Structs

Chain

Kinematic Chain using Node

Constraints

A bundle of flags determining which coordinates are constrained for a target

JacobianIkSolver

Inverse Kinematics Solver using Jacobian matrix

Joint

Joint with type

SerialChain

Kinematic chain without any branch.

Enums

Error

The reason of joint error

JointType

Type of Joint, Fixed, Rotational, Linear is supported now

Traits

InverseKinematicsSolver

IK solver

Real

Trait shared by all reals.

RealField

Trait shared by all reals.

SubsetOf

Nested sets and conversions between them (using an injective mapping). Useful to work with substructures. In generic code, it is preferable to use SupersetOf as trait bound whenever possible instead of SubsetOf (because SupersetOf is automatically implemented whenever SubsetOf is).

SupersetOf

Nested sets and conversions between them. Useful to work with substructures. It is preferable to implement the SubsetOf trait instead of SupersetOf whenever possible (because SupersetOf is automatically implemented whenever SubsetOf is).

Functions

center_of_mass

Calculate the center of mass of the chain

create_reference_positions_nullspace_function

Utility function to create nullspace function using reference joint positions. This is just an example to use nullspace.

jacobian

Calculate Jacobian of the serial chain (manipulator).

Type Definitions

Isometry3

A 3-dimensional direct 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.