Struct URDFChain 

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

FK chain using exact URDF joint transforms.

Accumulation works directly on columns:

1. Translation: t += fx·c0 + fy·c1 + fz·c2
2. Fixed rotation: (c0,c1,c2) = (c0,c1,c2) * fixed_rot
3. Joint rotation: 2D rotation on the appropriate column pair

When fixed_rot is identity (RPY = 0, the common case), step 2 is skipped entirely, making per-joint cost a single 2D column rotation plus translation — cheaper than DH.

Implementations

impl<const N: usize> URDFChain<N>

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

Trait Implementations

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

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

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

Formats the value using the given formatter.

impl<const N: usize> FKChain<N> for URDFChain<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<URDFChain<1>> for DynamicURDFChain

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

Converts to this type from the input type.

impl From<URDFChain<2>> for DynamicURDFChain

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

Converts to this type from the input type.

impl From<URDFChain<3>> for DynamicURDFChain

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

Converts to this type from the input type.

impl From<URDFChain<4>> for DynamicURDFChain

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

Converts to this type from the input type.

impl From<URDFChain<5>> for DynamicURDFChain

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

Converts to this type from the input type.

impl From<URDFChain<6>> for DynamicURDFChain

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

Converts to this type from the input type.

impl From<URDFChain<7>> for DynamicURDFChain

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

Converts to this type from the input type.

impl From<URDFChain<8>> for DynamicURDFChain

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

Converts to this type from the input type.