Crate k [−] [src]
Kinematics(forward/inverse) library using nalgebra.
k
has below functionalities
- Forward kinematics
- Inverse kinematics
- URDF Loader
Modules
math | |
urdf |
Structs
Ancestors | |
Descendants | |
JacobianIKSolver |
Inverse Kinematics Solver using Jacobian matrix |
JacobianIKSolverBuilder |
Build |
Joint |
Joint with type |
Link |
Joint and Link |
LinkBuilder |
Build a |
LinkChain |
Kinematic chain using |
LinkTree |
Kinematic Tree using |
Node | |
NodeImpl |
Generic Node for tree struct |
NodeIter | |
NodeIterMut | |
Range |
min/max range to check the joint position |
Enums
IKError |
The reason of the fail of inverse kinematics |
JointError |
The reason of joint error: |
JointType |
Type of Joint, |
Traits
ChainContainer |
Create KinematicChain |
InverseKinematicsSolver |
IK solver |
JointContainer |
Container of links with joints |
KinematicChain |
|
LinkContainer |
Container of links which has a transformation |
Type Definitions
LinkNode | |
RcNode |