Struct PrismaticFK 

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

Wraps an FKChain<N, F> and prepends a prismatic (linear) joint, producing an FKChain<M, F> 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, F>: 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, F: FKScalar, FK: FKChain<N, F>> PrismaticFK<M, N, F, FK>

pub fn new(inner: FK, axis: F::AVec3, q_index_first: bool) -> Self

pub fn inner(&self) -> &FK

pub fn axis(&self) -> F::AVec3

pub fn q_index_first(&self) -> bool

Trait Implementations

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

fn clone(&self) -> PrismaticFK<M, N, F, 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, F: Debug + FKScalar, FK: Debug + FKChain<N, F>> Debug for PrismaticFK<M, N, F, FK>

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

Formats the value using the given formatter.

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

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

fn base_tf(&self) -> F::AAffine3

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, F>) -> Result<[F::AAffine3; M], Self::Error>

fn fk_end(&self, q: &SRobotQ<M, F>) -> Result<F::AAffine3, Self::Error>

fn joint_axes_positions( &self, q: &SRobotQ<M, F>, ) -> Result<([F::AVec3; M], [F::AVec3; M], F::AVec3), 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, F>) -> Result<[[F; 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, F>, qdot: &SRobotQ<M, F>, ) -> Result<[[F; M]; 6], Self::Error>

First time-derivative of the geometric Jacobian.

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

Second time-derivative of the geometric Jacobian.

fn dof(&self) -> usize

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

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

impl<const M: usize, const N: usize, FK32, FK64> From<PrismaticFK<M, N, f32, FK32>> for PrismaticFK<M, N, f64, FK64>

where FK32: FKChain<N, f32>, FK64: FKChain<N, f64> + From<FK32>,

fn from(p: PrismaticFK<M, N, f32, FK32>) -> Self

Converts to this type from the input type.

impl<const M: usize, const N: usize, FK64, FK32> From<PrismaticFK<M, N, f64, FK64>> for PrismaticFK<M, N, f32, FK32>

where FK64: FKChain<N, f64>, FK32: FKChain<N, f32> + From<FK64>,

fn from(p: PrismaticFK<M, N, f64, FK64>) -> Self

Converts to this type from the input type.