[−][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::link::Link; |
pub use self::node::Node; |
pub use self::node::NodeBuilder; |
Modules
iterator | Iterators to iterate descendants and ancestors |
joint | Joint related structs |
link |
|
node | graph structure for kinematic chain |
prelude | Load basic traits of |
urdf | Load URDF format and create |
Macros
connect | set parents easily |
Structs
Chain | Kinematic Chain using |
Constraints | A bundle of flags determining which coordinates are constrained for a target |
JacobianIKSolver | Inverse Kinematics Solver using Jacobian matrix |
Joint | Joint with type |
SerialChain | Kinematic chain without any branch. |
Enums
Error | The reason of joint error |
JointType | Type of Joint, |
Traits
InverseKinematicsSolver | IK solver |
Real | Trait shared by all reals. |
RealField | Trait shared by all reals. |
SubsetOf | Nested sets and conversions between them (using an injective mapping). Useful to work with
substructures. In generic code, it is preferable to use |
SupersetOf | Nested sets and conversions between them. Useful to work with substructures. It is preferable
to implement the |
Functions
center_of_mass | Calculate the center of mass of the chain |
create_reference_positions_nullspace_function | Utility function to create nullspace function using reference joint positions. This is just an example to use nullspace. |
jacobian | Calculate Jacobian of the serial chain (manipulator). |
Type Definitions
Isometry3 | A 3-dimensional direct isometry using a unit quaternion for its rotational part. Also known as a rigid-body motion, or as an element of SE(3). |
Translation3 | A 3-dimensional translation. |
UnitQuaternion | A unit quaternions. May be used to represent a rotation. |
Vector3 | A stack-allocated, 3-dimensional column vector. |