Crate deke_types

Re-exports§

BoxFK
DHChain: Precomputed standard-DH chain with SoA layout.
DHJoint
HPChain: Precomputed Hayati-Paul chain with SoA layout.
HPJoint
JointValidator
PrismaticFK: Wraps an FKChain<N> and prepends a prismatic (linear) joint, producing an FKChain<M> where M = N + 1.
RobotTraj: Dynamically-sized robot trajectory: a dense RobotPath sampled uniformly at dt.
SRobotPath: Statically-sized robot path backed by Vec<SRobotQ<N, T>>.
SRobotQ: Statically-sized joint configuration backed by [T; N].
SRobotTraj: Statically-sized robot trajectory: an SRobotPath sampled uniformly at dt.
TransformedFK: Wraps an FKChain with an optional prefix (base) and/or suffix (tool) transform.
URDFChain: FK chain using exact URDF joint transforms.
URDFJoint: A URDF joint: its type plus the <origin> transform (xyz translation and rpy Euler rotation) from the parent link’s frame to the joint’s own frame.
ValidatorAnd
ValidatorNot
ValidatorOr

DekeError
DynamicDHChain
DynamicHPChain
DynamicJointValidator
DynamicURDFChain
URDFBuildError: Const-friendly error type for the URDFChain / URDFJoint const constructors. Trivially Copy, so values can be matched/returned inside const fns (unlike DekeError, whose RetimerFailed(String) variant carries a non-const destructor). Converts into DekeError via From.
URDFJointType: Kind of URDF joint. Fixed joints have no motion; revolute and prismatic joints move along axis (expressed in the joint’s own frame, as per the URDF spec).

compose_fixed_joints: Compose the <origin> transforms of a sequence of fixed joints (parent→child order) into a single Affine3A. Returns an error if any joint in joints is not Fixed.
robotq