Crate k[−][src]

Kinematics(forward/inverse) library using nalgebra.

k has below functionalities

Forward kinematics
Inverse kinematics
URDF Loader

Modules

math	math related functions
urdf	Load URDF format and create `k::LinkTree`

Structs

JacobianIKSolver	Inverse Kinematics Solver using Jacobian matrix
JacobianIKSolverBuilder	Build `jacobianIKSolverBuilder`
Joint	Joint with type
Link	Link contains a joint and a transform
LinkBuilder	Build a `Link<T>`
LinkTree	Kinematic Tree using `Rc<RefCell<Link<T>>>`
Manipulator	Kinematic chain using `Rc<RefCell<LinkNode<T>>>`
Mimic	Information for copying joint state of other joint
Node	Graph Node, which has a parent and children
Range	min/max range to check the joint position

Enums

IKError	The reason of the fail of inverse kinematics
JointError	The reason of joint error: `OutOfLimit`, `SizeMisMatch`
JointType	Type of Joint, `Fixed`, `Rotational`, `Linear` is supported now

Traits

EndTransform	End transform, which is used for IK
HasJoints	Container of joints which has angle
HasLinks	Container of links which has a transformation
InverseKinematicsSolver	IK solver

Type Definitions