Struct BoxFK 

pub struct BoxFK<const N: usize>(/* private fields */);

Implementations

impl<const N: usize> BoxFK<N>

pub fn new(fk: impl FKChain<N> + 'static) -> Self

Trait Implementations

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

fn clone(&self) -> Self

Returns a duplicate of the value.

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

Performs copy-assignment from source.

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

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<N>) -> Result<[Affine3A; N], DekeError>

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

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

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.