[−][src]Crate k
Kinematics(forward/inverse) library using nalgebra.
k
has below functionalities
- Forward kinematics
- Inverse kinematics
- URDF Loader
See Chain
as the top level interface.
Re-exports
pub use self::joint::Joint; |
pub use self::joint::JointType; |
pub use self::link::Link; |
pub use self::node::JointBuilder; |
pub use self::node::Node; |
Modules
iterator | Iterators to iterate descendants and ancestors |
joint | Joint related structs |
link |
|
node | graph structure for kinematic chain |
prelude | Load basic trais of |
urdf | Load URDF format and create |
Macros
connect | set parents easily |
Structs
Chain | Kinematic Chain using |
Constraints | true means the constraint is used. The coordinates is the world, not the end of the arm. |
JacobianIKSolver | Inverse Kinematics Solver using Jacobian matrix |
SerialChain | Kinematic chain without any branch. |
Enums
IKError | The reason of the fail of inverse kinematics |
JointError | The reason of joint error |
Traits
InverseKinematicsSolver | IK solver |
Real | Trait shared by all reals. |
Functions
center_of_mass | Calculate the center of mass of the chain |
jacobian | Calculate Jacobian of the serial chain (manipulator). |
Type Definitions
Isometry3 | A 3-dimensional isometry using a unit quaternion for its rotational part. |
Translation3 | A 3-dimensional translation. |
UnitQuaternion | A unit quaternions. May be used to represent a rotation. |
Vector3 | A stack-allocated, 3-dimensional column vector. |