Struct HPChain 

pub struct HPChain<const N: usize> { /* private fields */ }

Precomputed Hayati-Paul chain with SoA layout.

Convention: T_i = Rz(θ) · Rx(α) · Ry(β) · Tx(a) · Tz(d)

HP adds a β rotation about Y, which makes it numerically stable for nearly-parallel consecutive joint axes where standard DH is singular.

Implementations

impl<const N: usize> HPChain<N>

pub fn new(joints: [HPJoint; N]) -> Self

Trait Implementations

impl<const N: usize> Clone for HPChain<N>

fn clone(&self) -> HPChain<N>

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl<const N: usize> Debug for HPChain<N>

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

Formats the value using the given formatter.

impl<const N: usize> FKChain<N> for HPChain<N>

type Error = DekeError

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

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

fn joint_axes_positions( &self, q: &SRobotQ<N>, ) -> Result<([Vec3A; N], [Vec3A; N], Vec3A), Self::Error>

Returns joint rotation axes and axis-origin positions in world frame at configuration q, plus the end-effector position.

fn dof(&self) -> usize

fn max_reach(&self) -> Result<f32, Self::Error>

Theoretical maximum reach: sum of link lengths (upper bound, ignores joint limits).

fn jacobian(&self, q: &SRobotQ<N>) -> Result<[[f32; N]; 6], Self::Error>

Geometric Jacobian (6×N) at configuration q. Rows 0–2: linear velocity, rows 3–5: angular velocity.

fn jacobian_dot( &self, q: &SRobotQ<N>, qdot: &SRobotQ<N>, ) -> Result<[[f32; N]; 6], Self::Error>

First time-derivative of the geometric Jacobian.

fn jacobian_ddot( &self, q: &SRobotQ<N>, qdot: &SRobotQ<N>, qddot: &SRobotQ<N>, ) -> Result<[[f32; N]; 6], Self::Error>

Second time-derivative of the geometric Jacobian.

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.