Enum DynamicHPChain 

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

Variants

J1(HPChain<1>)

J2(HPChain<2>)

J3(HPChain<3>)

J4(HPChain<4>)

J5(HPChain<5>)

J6(HPChain<6>)

J7(HPChain<7>)

J8(HPChain<8>)

Implementations

impl DynamicHPChain

pub fn try_new(joints: Vec<HPJoint>) -> 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 DynamicHPChain

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

Trait Implementations

impl Clone for DynamicHPChain

fn clone(&self) -> DynamicHPChain

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for DynamicHPChain

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

Formats the value using the given formatter.

impl FKChain<1> for DynamicHPChain

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 DynamicHPChain

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 DynamicHPChain

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 DynamicHPChain

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 DynamicHPChain

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 DynamicHPChain

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 DynamicHPChain

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 DynamicHPChain

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<HPChain<1>> for DynamicHPChain

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

Converts to this type from the input type.

impl From<HPChain<2>> for DynamicHPChain

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

Converts to this type from the input type.

impl From<HPChain<3>> for DynamicHPChain

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

Converts to this type from the input type.

impl From<HPChain<4>> for DynamicHPChain

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

Converts to this type from the input type.

impl From<HPChain<5>> for DynamicHPChain

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

Converts to this type from the input type.

impl From<HPChain<6>> for DynamicHPChain

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

Converts to this type from the input type.

impl From<HPChain<7>> for DynamicHPChain

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

Converts to this type from the input type.

impl From<HPChain<8>> for DynamicHPChain

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

Converts to this type from the input type.