libjaka 0.1.14

Rust bindings for the Jaka robot
Documentation 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247

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 _JakaZu3;
pub struct _JakaZu5;
pub struct _JakaZu7;
pub struct _JakaZu12;
pub struct _JakaZu18;
pub struct _JakaZu20;
pub struct _JakaZu30;

impl JakaType for _JakaZu3 {
    const N: usize = 6;
}

impl JakaType for _JakaZu5 {
    const N: usize = 6;
}

impl JakaType for _JakaZu7 {
    const N: usize = 6;
}

impl JakaType for _JakaZu12 {
    const N: usize = 6;
}

impl JakaType for _JakaZu18 {
    const N: usize = 6;
}

impl JakaType for _JakaZu20 {
    const N: usize = 6;
}

impl JakaType for _JakaZu30 {
    const N: usize = 6;
}

pub type JakaZu3 = JakaRobot<_JakaZu3, { _JakaZu3::N }>;
pub type JakaZu5 = JakaRobot<_JakaZu5, { _JakaZu5::N }>;
pub type JakaZu7 = JakaRobot<_JakaZu7, { _JakaZu7::N }>;
pub type JakaZu12 = JakaRobot<_JakaZu12, { _JakaZu12::N }>;
pub type JakaZu18 = JakaRobot<_JakaZu18, { _JakaZu18::N }>;
pub type JakaZu20 = JakaRobot<_JakaZu20, { _JakaZu20::N }>;
pub type JakaZu30 = JakaRobot<_JakaZu30, { _JakaZu30::N }>;

impl ArmParam<{ _JakaZu3::N }> for JakaZu3 {
    const JOINT_DEFAULT: [f64; Self::N] = [0., 0., 0., 0., 0., 0.];
    const JOINT_PACKED: [f64; _JakaZu3::N] = to_radians_array([-90., 0., 148., 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([180., 180., 180., 220., 220., 220.]);
    // const JOINT_ACC_BOUND: [f64; Self::N] = [PI * 4.; Self::N];  // not provided
    const CARTESIAN_VEL_BOUND: f64 = 1.5;
    const CARTESIAN_ACC_BOUND: f64 = 8.0;
    const ROTATION_VEL_BOUND: f64 = PI;
    const ROTATION_ACC_BOUND: f64 = PI * 4.;
}

impl ArmParam<{ _JakaZu5::N }> for JakaZu5 {
    const JOINT_DEFAULT: [f64; Self::N] = [0., 0., 0., 0., 0., 0.];
    const JOINT_PACKED: [f64; _JakaZu5::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<{ _JakaZu7::N }> for JakaZu7 {
    const JOINT_DEFAULT: [f64; Self::N] = [0., 0., 0., 0., 0., 0.];
    const JOINT_PACKED: [f64; _JakaZu7::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<{ _JakaZu12::N }> for JakaZu12 {
    const JOINT_DEFAULT: [f64; Self::N] = [0., 0., 0., 0., 0., 0.];
    const JOINT_PACKED: [f64; _JakaZu12::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<{ _JakaZu18::N }> for JakaZu18 {
    const JOINT_DEFAULT: [f64; Self::N] = [0., 0., 0., 0., 0., 0.];
    const JOINT_PACKED: [f64; _JakaZu18::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 ArmParam<{ _JakaZu20::N }> for JakaZu20 {
    const JOINT_DEFAULT: [f64; Self::N] = [0., 0., 0., 0., 0., 0.];
    const JOINT_PACKED: [f64; _JakaZu20::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., 220., 220., 220.]);
    const JOINT_ACC_BOUND: [f64; Self::N] = [PI * 4.; Self::N];
    const CARTESIAN_VEL_BOUND: f64 = 5.0;
    const CARTESIAN_ACC_BOUND: f64 = 8.0;
    const ROTATION_VEL_BOUND: f64 = PI;
    const ROTATION_ACC_BOUND: f64 = PI * 4.;
}

impl ArmParam<{ _JakaZu30::N }> for JakaZu30 {
    const JOINT_DEFAULT: [f64; Self::N] = [0., 0., 0., 0., 0., 0.];
    const JOINT_PACKED: [f64; _JakaZu30::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., 220., 220., 220.]);
    const JOINT_ACC_BOUND: [f64; Self::N] = [PI * 4.; Self::N];
    const CARTESIAN_VEL_BOUND: f64 = 4.2;
    const CARTESIAN_ACC_BOUND: f64 = 8.0;
    const ROTATION_VEL_BOUND: f64 = PI;
    const ROTATION_ACC_BOUND: f64 = PI * 4.;
}

impl ArmForwardKinematics<{ _JakaZu3::N }> for JakaZu3 {
    const DH: [robot_behavior::DhParam; _JakaZu3::N] = [
        DhParam::DH { theta: 0., d: 0.15055, r: 0., alpha: FRAC_PI_2 },
        DhParam::DH { theta: 0., d: 0., r: 0.246, alpha: 0. },
        DhParam::DH { theta: 0., d: 0., r: 0.228, alpha: 0. },
        DhParam::DH { theta: 0., d: 0.113, r: 0., alpha: FRAC_PI_2 },
        DhParam::DH { theta: 0., d: 0.1175, r: 0., alpha: FRAC_PI_2 },
        DhParam::DH { theta: 0., d: 0.105, r: 0., alpha: 0. },
    ];
}

impl ArmForwardKinematics<{ _JakaZu5::N }> for JakaZu5 {
    const DH: [robot_behavior::DhParam; _JakaZu5::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<{ _JakaZu7::N }> for JakaZu7 {
    const DH: [robot_behavior::DhParam; _JakaZu7::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<{ _JakaZu12::N }> for JakaZu12 {
    const DH: [robot_behavior::DhParam; _JakaZu12::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<{ _JakaZu18::N }> for JakaZu18 {
    const DH: [robot_behavior::DhParam; _JakaZu18::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 ArmForwardKinematics<{ _JakaZu20::N }> for JakaZu20 {
    const DH: [robot_behavior::DhParam; _JakaZu20::N] = [
        DhParam::DH { theta: 0., d: 0.1965, r: 0., alpha: FRAC_PI_2 },
        DhParam::DH { theta: 0., d: 0., r: 0.897, alpha: 0. },
        DhParam::DH { theta: 0., d: 0., r: 0.7445, alpha: 0. },
        DhParam::DH { theta: 0., d: 0.18835, r: 0., alpha: FRAC_PI_2 },
        DhParam::DH { theta: 0., d: 0.1385, r: 0., alpha: FRAC_PI_2 },
        DhParam::DH { theta: 0., d: 0.1205, r: 0., alpha: 0. },
    ];
}

impl ArmForwardKinematics<{ _JakaZu30::N }> for JakaZu30 {
    const DH: [robot_behavior::DhParam; _JakaZu30::N] = [
        DhParam::DH { theta: 0., d: 0.1965, r: 0., alpha: FRAC_PI_2 },
        DhParam::DH { theta: 0., d: 0., r: 0.6625, alpha: 0. },
        DhParam::DH { theta: 0., d: 0., r: 0.549, alpha: 0. },
        DhParam::DH { theta: 0., d: 0.18835, r: 0., alpha: FRAC_PI_2 },
        DhParam::DH { theta: 0., d: 0.1385, r: 0., alpha: FRAC_PI_2 },
        DhParam::DH { theta: 0., d: 0.1205, r: 0., alpha: 0. },
    ];
}

impl RobotFile for JakaZu3 {
    const URDF: &'static str = "jaka/jaka_zu3.urdf";
}

impl RobotFile for JakaZu5 {
    const URDF: &'static str = "jaka/jaka_zu5.urdf";
}

impl RobotFile for JakaZu7 {
    const URDF: &'static str = "jaka/jaka_zu7.urdf";
}

impl RobotFile for JakaZu12 {
    const URDF: &'static str = "jaka/jaka_zu12.urdf";
}

impl RobotFile for JakaZu18 {
    const URDF: &'static str = "jaka/jaka_zu18.urdf";
}

impl RobotFile for JakaZu20 {
    const URDF: &'static str = "jaka/jaka_zu20.urdf";
}

impl RobotFile for JakaZu30 {
    const URDF: &'static str = "jaka/jaka_zu30.urdf";
}