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 base_tf(&self) -> Affine3A

Configuration-independent transform from the robot’s base frame to the world frame. Defaults to identity; wrappers that install a static prefix (e.g. TransformedFK with a prefix set, or URDFChain with fixed leading joints baked in) override this so downstream consumers (collision validators, visualizers) can place the static base body at the correct pose.

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

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

fn joint_axes_positions( &self, q: &SRobotQ<1>, ) -> Result<([Vec3A; 1], [Vec3A; 1], 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 FKChain<2> for DynamicDHChain

type Error = DekeError

fn base_tf(&self) -> Affine3A

Configuration-independent transform from the robot’s base frame to the world frame. Defaults to identity; wrappers that install a static prefix (e.g. TransformedFK with a prefix set, or URDFChain with fixed leading joints baked in) override this so downstream consumers (collision validators, visualizers) can place the static base body at the correct pose.

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

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

fn joint_axes_positions( &self, q: &SRobotQ<2>, ) -> Result<([Vec3A; 2], [Vec3A; 2], 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 FKChain<3> for DynamicDHChain

type Error = DekeError

fn base_tf(&self) -> Affine3A

Configuration-independent transform from the robot’s base frame to the world frame. Defaults to identity; wrappers that install a static prefix (e.g. TransformedFK with a prefix set, or URDFChain with fixed leading joints baked in) override this so downstream consumers (collision validators, visualizers) can place the static base body at the correct pose.

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

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

fn joint_axes_positions( &self, q: &SRobotQ<3>, ) -> Result<([Vec3A; 3], [Vec3A; 3], 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 FKChain<4> for DynamicDHChain

type Error = DekeError

fn base_tf(&self) -> Affine3A

Configuration-independent transform from the robot’s base frame to the world frame. Defaults to identity; wrappers that install a static prefix (e.g. TransformedFK with a prefix set, or URDFChain with fixed leading joints baked in) override this so downstream consumers (collision validators, visualizers) can place the static base body at the correct pose.

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

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

fn joint_axes_positions( &self, q: &SRobotQ<4>, ) -> Result<([Vec3A; 4], [Vec3A; 4], 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 FKChain<5> for DynamicDHChain

type Error = DekeError

fn base_tf(&self) -> Affine3A

Configuration-independent transform from the robot’s base frame to the world frame. Defaults to identity; wrappers that install a static prefix (e.g. TransformedFK with a prefix set, or URDFChain with fixed leading joints baked in) override this so downstream consumers (collision validators, visualizers) can place the static base body at the correct pose.

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

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

fn joint_axes_positions( &self, q: &SRobotQ<5>, ) -> Result<([Vec3A; 5], [Vec3A; 5], 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 FKChain<6> for DynamicDHChain

type Error = DekeError

fn base_tf(&self) -> Affine3A

Configuration-independent transform from the robot’s base frame to the world frame. Defaults to identity; wrappers that install a static prefix (e.g. TransformedFK with a prefix set, or URDFChain with fixed leading joints baked in) override this so downstream consumers (collision validators, visualizers) can place the static base body at the correct pose.

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

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

fn joint_axes_positions( &self, q: &SRobotQ<6>, ) -> Result<([Vec3A; 6], [Vec3A; 6], 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 FKChain<7> for DynamicDHChain

type Error = DekeError

fn base_tf(&self) -> Affine3A

Configuration-independent transform from the robot’s base frame to the world frame. Defaults to identity; wrappers that install a static prefix (e.g. TransformedFK with a prefix set, or URDFChain with fixed leading joints baked in) override this so downstream consumers (collision validators, visualizers) can place the static base body at the correct pose.

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

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

fn joint_axes_positions( &self, q: &SRobotQ<7>, ) -> Result<([Vec3A; 7], [Vec3A; 7], 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 FKChain<8> for DynamicDHChain

type Error = DekeError

fn base_tf(&self) -> Affine3A

Configuration-independent transform from the robot’s base frame to the world frame. Defaults to identity; wrappers that install a static prefix (e.g. TransformedFK with a prefix set, or URDFChain with fixed leading joints baked in) override this so downstream consumers (collision validators, visualizers) can place the static base body at the correct pose.

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

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

fn joint_axes_positions( &self, q: &SRobotQ<8>, ) -> Result<([Vec3A; 8], [Vec3A; 8], 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<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.