libjaka 0.1.14

Rust bindings for the Jaka robot
Documentation 
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use std::f64::consts::{FRAC_PI_2, PI};

use robot_behavior::{
    ArmDOF, ArmForwardKinematics, ArmParam, DhParam, RobotFile, to_radians_array,
};

use crate::{JakaRobot, JakaType};

pub struct _JakaPro5;
pub struct _JakaPro7; // Pro7 & Pro18 are also public whose 2D/3D files are however not provided
pub struct _JakaPro12;
pub struct _JakaPro16;
pub struct _JakaPro18;

impl JakaType for _JakaPro5 {
    const N: usize = 6;
}

impl JakaType for _JakaPro7 {
    const N: usize = 6;
}

impl JakaType for _JakaPro12 {
    const N: usize = 6;
}

impl JakaType for _JakaPro16 {
    const N: usize = 6;
}

impl JakaType for _JakaPro18 {
    const N: usize = 6;
}

pub type JakaPro5 = JakaRobot<_JakaPro5, { _JakaPro5::N }>;
pub type JakaPro7 = JakaRobot<_JakaPro7, { _JakaPro7::N }>;
pub type JakaPro12 = JakaRobot<_JakaPro12, { _JakaPro12::N }>;
pub type JakaPro16 = JakaRobot<_JakaPro16, { _JakaPro16::N }>;
pub type JakaPro18 = JakaRobot<_JakaPro18, { _JakaPro18::N }>;

impl ArmParam<{ _JakaPro5::N }> for JakaPro5 {
    const JOINT_DEFAULT: [f64; Self::N] = [0., 0., 0., 0., 0., 0.];
    const JOINT_PACKED: [f64; Self::N] = to_radians_array([-90., 0., 152., 120., 0., 0.]);
    const JOINT_MIN: [f64; Self::N] = to_radians_array([-360., -85., -175., -85., -360., -360.]);
    const JOINT_MAX: [f64; Self::N] = to_radians_array([360., 265., 175., 265., 360., 360.]);
    const JOINT_VEL_BOUND: [f64; Self::N] = [PI; Self::N];
    const JOINT_ACC_BOUND: [f64; Self::N] = [PI * 4.; Self::N];
    const CARTESIAN_VEL_BOUND: f64 = 3.0;
    const CARTESIAN_ACC_BOUND: f64 = 8.0;
    const ROTATION_VEL_BOUND: f64 = PI;
    const ROTATION_ACC_BOUND: f64 = PI * 4.;
}

impl ArmParam<{ _JakaPro7::N }> for JakaPro7 {
    const JOINT_DEFAULT: [f64; Self::N] = [0., 0., 0., 0., 0., 0.];
    const JOINT_PACKED: [f64; _JakaPro7::N] = to_radians_array([-90., 0., 152., 120., 0., 0.]);
    const JOINT_MIN: [f64; Self::N] = to_radians_array([-360., -85., -175., -85., -360., -360.]);
    const JOINT_MAX: [f64; Self::N] = to_radians_array([360., 265., 175., 265., 360., 360.]);
    const JOINT_VEL_BOUND: [f64; Self::N] = [PI; Self::N];
    const JOINT_ACC_BOUND: [f64; Self::N] = [PI * 4.; Self::N];
    const CARTESIAN_VEL_BOUND: f64 = 2.5;
    const CARTESIAN_ACC_BOUND: f64 = 8.0;
    const ROTATION_VEL_BOUND: f64 = PI;
    const ROTATION_ACC_BOUND: f64 = PI * 4.;
}
impl ArmParam<{ _JakaPro12::N }> for JakaPro12 {
    const JOINT_DEFAULT: [f64; Self::N] = [0., 0., 0., 0., 0., 0.];
    const JOINT_PACKED: [f64; _JakaPro12::N] = to_radians_array([-90., 0., 152., 120., 0., 0.]);
    const JOINT_MIN: [f64; Self::N] = to_radians_array([-360., -85., -175., -85., -360., -360.]);
    const JOINT_MAX: [f64; Self::N] = to_radians_array([360., 265., 175., 265., 360., 360.]);
    const JOINT_VEL_BOUND: [f64; Self::N] = to_radians_array([120., 120., 120., 180., 180., 180.]);
    const JOINT_ACC_BOUND: [f64; Self::N] = [PI * 4.; Self::N];
    const CARTESIAN_VEL_BOUND: f64 = 3.0;
    const CARTESIAN_ACC_BOUND: f64 = 8.0;
    const ROTATION_VEL_BOUND: f64 = PI;
    const ROTATION_ACC_BOUND: f64 = PI * 4.;
}

impl ArmParam<{ _JakaPro16::N }> for JakaPro16 {
    const JOINT_DEFAULT: [f64; Self::N] = [0., 0., 0., 0., 0., 0.];
    const JOINT_PACKED: [f64; _JakaPro16::N] = to_radians_array([-90., 0., 152., 120., 0., 0.]);
    const JOINT_MIN: [f64; Self::N] = to_radians_array([-360., -85., -175., -85., -360., -360.]);
    const JOINT_MAX: [f64; Self::N] = to_radians_array([360., 265., 175., 265., 360., 360.]);
    const JOINT_VEL_BOUND: [f64; Self::N] = to_radians_array([120., 120., 120., 180., 180., 180.]);
    const JOINT_ACC_BOUND: [f64; Self::N] = [PI * 4.; Self::N];
    const CARTESIAN_VEL_BOUND: f64 = 3.5;
    const CARTESIAN_ACC_BOUND: f64 = 8.0;
    const ROTATION_VEL_BOUND: f64 = PI;
    const ROTATION_ACC_BOUND: f64 = PI * 4.;
}

impl ArmParam<{ _JakaPro18::N }> for JakaPro18 {
    const JOINT_DEFAULT: [f64; Self::N] = [0., 0., 0., 0., 0., 0.];
    const JOINT_PACKED: [f64; _JakaPro18::N] = to_radians_array([-90., 0., 152., 120., 0., 0.]);
    const JOINT_MIN: [f64; Self::N] = to_radians_array([-360., -85., -175., -85., -360., -360.]);
    const JOINT_MAX: [f64; Self::N] = to_radians_array([360., 265., 175., 265., 360., 360.]);
    const JOINT_VEL_BOUND: [f64; Self::N] = to_radians_array([120., 120., 180., 180., 180., 180.]);
    const JOINT_ACC_BOUND: [f64; Self::N] = [PI * 4.; Self::N];
    const CARTESIAN_VEL_BOUND: f64 = 3.5;
    const CARTESIAN_ACC_BOUND: f64 = 8.0;
    const ROTATION_VEL_BOUND: f64 = PI;
    const ROTATION_ACC_BOUND: f64 = PI * 4.;
}

impl ArmForwardKinematics<{ _JakaPro5::N }> for JakaPro5 {
    const DH: [robot_behavior::DhParam; _JakaPro5::N] = [
        DhParam::DH { theta: 0., d: 0.12015, r: 0., alpha: FRAC_PI_2 },
        DhParam::DH { theta: 0., d: 0., r: 0.430, alpha: 0. },
        DhParam::DH { theta: 0., d: 0., r: 0.3685, alpha: 0. },
        DhParam::DH { theta: 0., d: 0.114, r: 0., alpha: FRAC_PI_2 },
        DhParam::DH { theta: 0., d: 0.1135, r: 0., alpha: FRAC_PI_2 },
        DhParam::DH { theta: 0., d: 0.107, r: 0., alpha: 0. },
    ];
}

impl ArmForwardKinematics<{ _JakaPro7::N }> for JakaPro7 {
    const DH: [robot_behavior::DhParam; _JakaPro7::N] = [
        DhParam::DH { theta: 0., d: 0.12015, r: 0., alpha: FRAC_PI_2 },
        DhParam::DH { theta: 0., d: 0., r: 0.360, alpha: 0. },
        DhParam::DH { theta: 0., d: 0., r: 0.3035, alpha: 0. },
        DhParam::DH { theta: 0., d: 0.11501, r: 0., alpha: FRAC_PI_2 },
        DhParam::DH { theta: 0., d: 0.1135, r: 0., alpha: FRAC_PI_2 },
        DhParam::DH { theta: 0., d: 0.107, r: 0., alpha: 0. },
    ];
}

impl ArmForwardKinematics<{ _JakaPro12::N }> for JakaPro12 {
    const DH: [robot_behavior::DhParam; _JakaPro12::N] = [
        DhParam::DH { theta: 0., d: 0.14265, r: 0., alpha: FRAC_PI_2 },
        DhParam::DH { theta: 0., d: 0., r: 0.595, alpha: 0. },
        DhParam::DH { theta: 0., d: 0., r: 0.5715, alpha: 0. },
        DhParam::DH { theta: 0., d: 0.1315, r: 0., alpha: FRAC_PI_2 },
        DhParam::DH { theta: 0., d: 0.115, r: 0., alpha: FRAC_PI_2 },
        DhParam::DH { theta: 0., d: 0.1035, r: 0., alpha: 0. },
    ];
}

impl ArmForwardKinematics<{ _JakaPro16::N }> for JakaPro16 {
    const DH: [robot_behavior::DhParam; _JakaPro16::N] = [
        DhParam::DH { theta: 0., d: 0.1965, r: 0., alpha: FRAC_PI_2 },
        DhParam::DH { theta: 0., d: 0., r: 0.819, alpha: 0. },
        DhParam::DH { theta: 0., d: 0., r: 0.687, alpha: 0. },
        DhParam::DH { theta: 0., d: 0.158, r: 0., alpha: FRAC_PI_2 },
        DhParam::DH { theta: 0., d: 0.1441, r: 0., alpha: FRAC_PI_2 },
        DhParam::DH { theta: 0., d: 0.12665, r: 0., alpha: 0. },
    ];
}

impl ArmForwardKinematics<{ _JakaPro18::N }> for JakaPro18 {
    const DH: [robot_behavior::DhParam; _JakaPro18::N] = [
        DhParam::DH { theta: 0., d: 0.14265, r: 0., alpha: FRAC_PI_2 },
        DhParam::DH { theta: 0., d: 0., r: 0.510, alpha: 0. },
        DhParam::DH { theta: 0., d: 0., r: 0.400, alpha: 0. },
        DhParam::DH { theta: 0., d: 0.154, r: 0., alpha: FRAC_PI_2 },
        DhParam::DH { theta: 0., d: 0.115, r: 0., alpha: FRAC_PI_2 },
        DhParam::DH { theta: 0., d: 0.1035, r: 0., alpha: 0. },
    ];
}

impl RobotFile for JakaPro5 {
    const URDF: &'static str = "jaka/jaka_pro5.urdf";
}

impl RobotFile for JakaPro7 {
    const URDF: &'static str = "jaka/jaka_pro7.urdf";
}

impl RobotFile for JakaPro12 {
    const URDF: &'static str = "jaka/jaka_pro12.urdf";
}

impl RobotFile for JakaPro16 {
    const URDF: &'static str = "jaka/jaka_pro16.urdf";
}

impl RobotFile for JakaPro18 {
    const URDF: &'static str = "jaka/jaka_pro18.urdf";
}