libjaka 0.1.14

Rust bindings for the Jaka robot
Documentation 
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use robot_behavior::{ArmParam, DhParam, behavior::*};
use std::f64::consts::{FRAC_PI_2, FRAC_PI_3, PI};

use crate::{JakaRobot, JakaType};

pub struct _JakaMini2;
pub type JakaMini2 = JakaRobot<_JakaMini2, { _JakaMini2::N }>;

impl JakaType for _JakaMini2 {
    const N: usize = 6;
}

impl JakaMini2 {
    // /// Create a new `JakaRobot` instance with the given IP address.
    // ///
    // /// # Arguments
    // /// * `ip` - A string slice that holds the IP address of the robot.
    // pub fn new(ip: &str) -> Self {
    //     let network = NetWork::new(ip);
    //     let robot_state = NetWork::state_connect(ip);
    //     let mut robot = Self {
    //         marker: PhantomData,
    //         network,
    //         robot_state,
    //         streaming_handle: thread::spawn(|| {}),
    //         is_moving: false,
    //         coord: OverrideOnce::new(Coord::OCS),
    //         max_vel: OverrideOnce::new(Self::JOINT_VEL_BOUND),
    //         max_acc: OverrideOnce::new(Self::JOINT_ACC_BOUND),
    //         max_cartesian_vel: OverrideOnce::new(Self::CARTESIAN_VEL_BOUND),
    //         max_cartesian_acc: OverrideOnce::new(Self::CARTESIAN_ACC_BOUND),
    //         max_rotation_vel: OverrideOnce::new(Self::ROTATION_VEL_BOUND),
    //         max_rotation_acc: OverrideOnce::new(Self::ROTATION_ACC_BOUND),
    //     };
    //     let _ = robot.set_speed(0.05);
    //     robot
    // }
}

impl ArmParam<{ _JakaMini2::N }> for JakaMini2 {
    const JOINT_DEFAULT: [f64; Self::N] = [0., FRAC_PI_3 * 2., -FRAC_PI_3 * 2., 0., -FRAC_PI_2, 0.];
    const JOINT_MIN: [f64; Self::N] = [
        -PI * 2.,
        -FRAC_PI_3 * 2.,
        -FRAC_PI_3 * 2.,
        -PI * 2.,
        -FRAC_PI_3 * 2.,
        -PI * 2.,
    ];
    const JOINT_MAX: [f64; Self::N] = [
        PI * 2.,
        FRAC_PI_3 * 2.,
        FRAC_PI_3 * 2.,
        PI * 2.,
        FRAC_PI_3 * 2.,
        PI * 2.,
    ];
    const JOINT_VEL_BOUND: [f64; Self::N] = [PI; Self::N];
    const JOINT_ACC_BOUND: [f64; Self::N] = [PI * 4.; Self::N];
    const JOINT_JERK_BOUND: [f64; Self::N] = [f64::MAX; Self::N];
    const CARTESIAN_VEL_BOUND: f64 = 1.;
    const CARTESIAN_ACC_BOUND: f64 = 8.0;
    const ROTATION_VEL_BOUND: f64 = PI;
    const ROTATION_ACC_BOUND: f64 = PI * 4.;
    const TORQUE_BOUND: [f64; Self::N] = [f64::MAX; Self::N];
    const TORQUE_DOT_BOUND: [f64; Self::N] = [f64::MAX; Self::N];
}

impl ArmForwardKinematics<{ _JakaMini2::N }> for JakaMini2 {
    const DH: [robot_behavior::DhParam; _JakaMini2::N] = [
        DhParam::Iso3RPY { pos: [0., 0., 0.187], rpy: [0.; 3] },
        DhParam::Iso3RPY { pos: [0., -0.006, 0.], rpy: [FRAC_PI_2, -FRAC_PI_2, 0.] },
        DhParam::Iso3RPY { pos: [0.21, 0., 0.], rpy: [0., 0., -FRAC_PI_2] },
        DhParam::Iso3RPY { pos: [0., 0.2105, 0.], rpy: [-FRAC_PI_2, 0., 0.] },
        DhParam::Iso3RPY { pos: [0., 0., 0.], rpy: [FRAC_PI_2, 0., 0.] },
        DhParam::Iso3RPY { pos: [0., 0.1593, 0.], rpy: [-FRAC_PI_2, 0., 0.] },
    ];
}

impl RobotFile for JakaMini2 {
    const URDF: &'static str = "jaka/jaka_minicobo.urdf";
}

#[cfg(test)]
mod tests {
    use super::*;

    #[test]
    fn test_kine() {
        let cache = JakaMini2::kine_cache(&[0.; 6], &[0.; 6]);

        let pose = cache.end_effector_pose();

        println!("pose: {:?}", pose);
    }
}