Struct PrismaticFK 

pub struct PrismaticFK<const M: usize, const N: usize, FK: FKChain<N>> { /* private fields */ }

Wraps an FKChain<N> and prepends a prismatic (linear) joint, producing an FKChain<M> where M = N + 1.

The prismatic joint always acts first in the kinematic chain — it translates the entire arm along axis (world frame). The q_index_first flag only controls where the prismatic value is read from in SRobotQ<M>: when true it is q[0], when false it is q[M-1].

Jacobian columns for the prismatic joint are [axis; 0] (pure linear, no angular contribution). Because the prismatic uniformly shifts all positions, the revolute Jacobian columns are identical to the inner chain’s.

Implementations

impl<const M: usize, const N: usize, FK: FKChain<N>> PrismaticFK<M, N, FK>

pub const fn new(inner: FK, axis: Vec3A, q_index_first: bool) -> Self

pub fn inner(&self) -> &FK

pub fn axis(&self) -> Vec3A

pub fn q_index_first(&self) -> bool

Trait Implementations

impl<const M: usize, const N: usize, FK: Clone + FKChain<N>> Clone for PrismaticFK<M, N, FK>

fn clone(&self) -> PrismaticFK<M, N, FK>

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl<const M: usize, const N: usize, FK: Debug + FKChain<N>> Debug for PrismaticFK<M, N, FK>

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

Formats the value using the given formatter.

impl<const M: usize, const N: usize, FK: FKChain<N>> FKChain<M> for PrismaticFK<M, N, FK>

type Error = <FK as FKChain<N>>::Error

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<M>) -> Result<[Affine3A; M], Self::Error>

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

fn joint_axes_positions( &self, q: &SRobotQ<M>, ) -> Result<([Vec3A; M], [Vec3A; M], Vec3A), Self::Error>

Returns joint rotation axes and axis-origin positions in world frame at configuration q, plus the end-effector position.

fn jacobian(&self, q: &SRobotQ<M>) -> Result<[[f32; M]; 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<M>, qdot: &SRobotQ<M>, ) -> Result<[[f32; M]; 6], Self::Error>

First time-derivative of the geometric Jacobian.

fn jacobian_ddot( &self, q: &SRobotQ<M>, qdot: &SRobotQ<M>, qddot: &SRobotQ<M>, ) -> Result<[[f32; M]; 6], Self::Error>

Second time-derivative of the geometric Jacobian.

fn dof(&self) -> usize

fn max_reach(&self) -> Result<f32, Self::Error>

Theoretical maximum reach: sum of link lengths (upper bound, ignores joint limits).