Struct TransformedFK 

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

Wraps an FKChain with an optional prefix (base) and/or suffix (tool) transform.

• fk applies only the prefix — intermediate frames stay in world coordinates without the tool offset.
• fk_end and joint_axes_positions apply both — the end-effector includes the tool tip.

Implementations

impl<const N: usize, FK: FKChain<N>> TransformedFK<N, FK>

pub const fn new(inner: FK) -> Self

pub const fn with_prefix(self, prefix: Affine3A) -> Self

pub const fn with_suffix(self, suffix: Affine3A) -> Self

pub const fn with_prefix_opt(self, prefix: Option<Affine3A>) -> Self

Infallible const-usable setter for the prefix. None clears any previously set prefix. Pair with compose_fixed_joints (const) to build the prefix from a slice of Fixed joints in a const context.

pub const fn with_suffix_opt(self, suffix: Option<Affine3A>) -> Self

Infallible const-usable setter for the suffix. None clears any previously set suffix. Pair with compose_fixed_joints (const) to build the suffix from a slice of Fixed joints in a const context.

pub fn with_prefix_joints( self, joints: &[URDFJoint], ) -> Result<Self, URDFBuildError>

Compose a slice of fixed URDF joints (parent→child order) and set the result as the base-side prefix transform, replacing any existing prefix. Every joint in joints must be URDFJointType::Fixed. An empty slice clears the prefix.

pub fn with_suffix_joints( self, joints: &[URDFJoint], ) -> Result<Self, URDFBuildError>

Compose a slice of fixed URDF joints (parent→child order) and set the result as the tool-side suffix transform, replacing any existing suffix. Every joint in joints must be URDFJointType::Fixed. An empty slice clears the suffix.

pub fn set_prefix(&mut self, prefix: Option<Affine3A>)

pub fn set_suffix(&mut self, suffix: Option<Affine3A>)

pub fn prefix(&self) -> Option<&Affine3A>

pub fn suffix(&self) -> Option<&Affine3A>

pub fn inner(&self) -> &FK

Trait Implementations

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

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

Returns a duplicate of the value.

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

Performs copy-assignment from source.

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

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

Formats the value using the given formatter.

impl<const N: usize, FK: FKChain<N>> FKChain<N> for TransformedFK<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 max_reach(&self) -> Result<f32, Self::Error>

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

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

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 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.