Enum DynamicDHChain 

pub enum DynamicDHChain {
    J1(DHChain<1>),
    J2(DHChain<2>),
    J3(DHChain<3>),
    J4(DHChain<4>),
    J5(DHChain<5>),
    J6(DHChain<6>),
    J7(DHChain<7>),
    J8(DHChain<8>),
}

Variants

J1(DHChain<1>)

J2(DHChain<2>)

J3(DHChain<3>)

J4(DHChain<4>)

J5(DHChain<5>)

J6(DHChain<6>)

J7(DHChain<7>)

J8(DHChain<8>)

Implementations

impl DynamicDHChain

pub fn try_new(joints: Vec<DHJoint>) -> DekeResult<Self>

pub fn dof(&self) -> usize

pub fn fk_dyn(&self, q: &[f32]) -> DekeResult<Vec<Affine3A>>

pub fn fk_end_dyn(&self, q: &[f32]) -> DekeResult<Affine3A>

impl DynamicDHChain

pub fn from_chain(chain: impl Into<Self>) -> Self

Trait Implementations

impl Clone for DynamicDHChain

fn clone(&self) -> DynamicDHChain

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for DynamicDHChain

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl FKChain<1> for DynamicDHChain

type Error = DekeError

fn fk(&self, q: &SRobotQ<1>) -> Result<[Affine3A; 1], Self::Error>

fn fk_end(&self, q: &SRobotQ<1>) -> Result<Affine3A, Self::Error>

impl FKChain<2> for DynamicDHChain

type Error = DekeError

fn fk(&self, q: &SRobotQ<2>) -> Result<[Affine3A; 2], Self::Error>

fn fk_end(&self, q: &SRobotQ<2>) -> Result<Affine3A, Self::Error>

impl FKChain<3> for DynamicDHChain

type Error = DekeError

fn fk(&self, q: &SRobotQ<3>) -> Result<[Affine3A; 3], Self::Error>

fn fk_end(&self, q: &SRobotQ<3>) -> Result<Affine3A, Self::Error>

impl FKChain<4> for DynamicDHChain

type Error = DekeError

fn fk(&self, q: &SRobotQ<4>) -> Result<[Affine3A; 4], Self::Error>

fn fk_end(&self, q: &SRobotQ<4>) -> Result<Affine3A, Self::Error>

impl FKChain<5> for DynamicDHChain

type Error = DekeError

fn fk(&self, q: &SRobotQ<5>) -> Result<[Affine3A; 5], Self::Error>

fn fk_end(&self, q: &SRobotQ<5>) -> Result<Affine3A, Self::Error>

impl FKChain<6> for DynamicDHChain

type Error = DekeError

fn fk(&self, q: &SRobotQ<6>) -> Result<[Affine3A; 6], Self::Error>

fn fk_end(&self, q: &SRobotQ<6>) -> Result<Affine3A, Self::Error>

impl FKChain<7> for DynamicDHChain

type Error = DekeError

fn fk(&self, q: &SRobotQ<7>) -> Result<[Affine3A; 7], Self::Error>

fn fk_end(&self, q: &SRobotQ<7>) -> Result<Affine3A, Self::Error>

impl FKChain<8> for DynamicDHChain

type Error = DekeError

fn fk(&self, q: &SRobotQ<8>) -> Result<[Affine3A; 8], Self::Error>

fn fk_end(&self, q: &SRobotQ<8>) -> Result<Affine3A, Self::Error>

impl From<DHChain<1>> for DynamicDHChain

fn from(chain: DHChain<1>) -> Self

Converts to this type from the input type.

impl From<DHChain<2>> for DynamicDHChain

fn from(chain: DHChain<2>) -> Self

Converts to this type from the input type.

impl From<DHChain<3>> for DynamicDHChain

fn from(chain: DHChain<3>) -> Self

Converts to this type from the input type.

impl From<DHChain<4>> for DynamicDHChain

fn from(chain: DHChain<4>) -> Self

Converts to this type from the input type.

impl From<DHChain<5>> for DynamicDHChain

fn from(chain: DHChain<5>) -> Self

Converts to this type from the input type.

impl From<DHChain<6>> for DynamicDHChain

fn from(chain: DHChain<6>) -> Self

Converts to this type from the input type.

impl From<DHChain<7>> for DynamicDHChain

fn from(chain: DHChain<7>) -> Self

Converts to this type from the input type.

impl From<DHChain<8>> for DynamicDHChain

fn from(chain: DHChain<8>) -> Self

Converts to this type from the input type.