Struct DHChain 

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

Precomputed standard-DH chain with SoA layout.

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

Implementations

impl<const N: usize> DHChain<N>

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

pub const fn from_dh(params: &[[f64; N]; 4]) -> Self

Construct from the row-major DH_PARAMS const array emitted by the workcell macro.

params: [[f64; N]; 4] — rows are (a, alpha, d, theta_offset) across joints.

Trait Implementations

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

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

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

Formats the value using the given formatter.

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

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

DH forward kinematics exploiting the structure of Rz(θ)·Rx(α).

The per-joint accumulation decomposes into two 2D column rotations:

1. Rotate (c0, c1) by θ → (new_c0, perp)
2. Rotate (perp, c2) by α → (new_c1, new_c2) Translation reuses new_c0: t += a·new_c0 + d·old_c2

type Error = DekeError

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 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 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.