Struct HPChain 

pub struct HPChain<const N: usize, F: FKScalar = f32> { /* private fields */ }

Precomputed Hayati-Paul chain with SoA layout.

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

HP adds a β rotation about Y, which makes it numerically stable for nearly-parallel consecutive joint axes where standard DH is singular.

Implementations

impl<const N: usize> HPChain<N, f32>

pub const fn new(joints: [HPJoint<f32>; N]) -> Self

pub const fn from_hp(h: &[[f32; N]; 3], p: &[[f32; N]; 3]) -> Self

Construct from the row-major HP_H and HP_P const arrays emitted by the workcell macro.

h: [[f32; N]; 3] — rows are (x, y, z) components across joints. p: [[f32; N]; 3] — rows are (x, y, z) components across points.

Each h[_][i] is joint i’s axis in the base frame at zero config. p[_][0] is the base-to-joint-0 offset; p[_][i] for 1..N is the offset from joint i-1’s origin to joint i’s origin. The tool offset from joint N-1 to the flange is not part of this input because HPChain has no end-effector slot — wrap the result in a TransformedFK if a tool offset is required.

theta_offset is set to zero for every joint: at zero config each local x-axis is pinned to Rx(α) · Ry(β) · [1, 0, 0] expressed in the parent frame.

impl<const N: usize> HPChain<N, f64>

pub const fn new_f64(joints: [HPJoint<f64>; N]) -> Self

const-evaluable f64 constructor — analogue of HPChain::<N, f32>::new.

pub const fn from_hp_f64(h: &[[f64; N]; 3], p: &[[f64; N]; 3]) -> Self

const-evaluable f64 analogue of HPChain::from_hp.

impl<const N: usize, F: FKScalar> HPChain<N, F>

pub fn from_joints(joints: [HPJoint<F>; N]) -> Self

Generic runtime constructor. For f32 the const-evaluable HPChain::new is preferred; this exists so HPChain<N, f64> (and any other future scalar) is usable.

Trait Implementations

impl<const N: usize, F: Clone + FKScalar> Clone for HPChain<N, F>

fn clone(&self) -> HPChain<N, F>

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl<const N: usize, F: Debug + FKScalar> Debug for HPChain<N, F>

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

Formats the value using the given formatter.

impl<const N: usize, F: FKScalar> FKChain<N, F> for HPChain<N, F>

type Error = DekeError

fn fk(&self, q: &SRobotQ<N, F>) -> Result<[F::AAffine3; N], Self::Error>

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

fn all_fk( &self, q: &SRobotQ<N, F>, ) -> Result<(F::AAffine3, [F::AAffine3; N], F::AAffine3), Self::Error>

Compute base transform, per-link frames, and the end-effector frame in one call. Consumers that need all three (collision validators, visualizers) should prefer this over invoking base_tf, fk, and fk_end separately.

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

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

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

First time-derivative of the geometric Jacobian.

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

Second time-derivative of the geometric Jacobian.

impl From<HPChain<1>> for DynamicHPChain

fn from(chain: HPChain<1>) -> Self

Converts to this type from the input type.

impl From<HPChain<2>> for DynamicHPChain

fn from(chain: HPChain<2>) -> Self

Converts to this type from the input type.

impl From<HPChain<3>> for DynamicHPChain

fn from(chain: HPChain<3>) -> Self

Converts to this type from the input type.

impl From<HPChain<4>> for DynamicHPChain

fn from(chain: HPChain<4>) -> Self

Converts to this type from the input type.

impl From<HPChain<5>> for DynamicHPChain

fn from(chain: HPChain<5>) -> Self

Converts to this type from the input type.

impl From<HPChain<6>> for DynamicHPChain

fn from(chain: HPChain<6>) -> Self

Converts to this type from the input type.

impl From<HPChain<7>> for DynamicHPChain

fn from(chain: HPChain<7>) -> Self

Converts to this type from the input type.

impl From<HPChain<8>> for DynamicHPChain

fn from(chain: HPChain<8>) -> Self

Converts to this type from the input type.

impl<const N: usize> From<HPChain<N>> for HPChain<N, f64>

fn from(c: HPChain<N, f32>) -> Self

Converts to this type from the input type.

impl<const N: usize> From<HPChain<N, f64>> for HPChain<N, f32>

fn from(c: HPChain<N, f64>) -> Self

Converts to this type from the input type.