Struct BoxFK 

pub struct BoxFK<const N: usize, F: FKScalar = f32>(/* private fields */);

Implementations

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

pub fn new(fk: impl FKChain<N, F> + 'static) -> Self

Trait Implementations

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

fn clone(&self) -> Self

Returns a duplicate of the value.

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

Performs copy-assignment from source.

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

type Error = DekeError

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<N, F>) -> Result<[F::AAffine3; N], DekeError>

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

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

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), DekeError>

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

fn dof(&self) -> usize

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.