Struct TransformedFK 

pub struct TransformedFK<const N: usize, F: FKScalar, FK: FKChain<N, F>> { /* 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, F: FKScalar, FK: FKChain<N, F>> TransformedFK<N, F, FK>

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

pub fn with_prefix(self, prefix: F::AAffine3) -> Self

pub fn with_suffix(self, suffix: F::AAffine3) -> Self

pub fn with_prefix_opt(self, prefix: Option<F::AAffine3>) -> Self

Infallible setter for the prefix. None clears any previously set prefix.

pub fn with_suffix_opt(self, suffix: Option<F::AAffine3>) -> Self

Infallible setter for the suffix. None clears any previously set suffix.

pub fn set_prefix(&mut self, prefix: Option<F::AAffine3>)

pub fn set_suffix(&mut self, suffix: Option<F::AAffine3>)

pub fn prefix(&self) -> Option<&F::AAffine3>

pub fn suffix(&self) -> Option<&F::AAffine3>

pub fn inner(&self) -> &FK

impl<const N: usize, FK: FKChain<N, f32>> TransformedFK<N, f32, FK>

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.

Trait Implementations

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

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

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, FK: Debug + FKChain<N, F>> Debug for TransformedFK<N, F, FK>

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

Formats the value using the given formatter.

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

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

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 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<const N: usize, FK32, FK64> From<TransformedFK<N, f32, FK32>> for TransformedFK<N, f64, FK64>

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

fn from(t: TransformedFK<N, f32, FK32>) -> Self

Converts to this type from the input type.

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

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

fn from(t: TransformedFK<N, f64, FK64>) -> Self

Converts to this type from the input type.