Crate k [−] [src]

Kinematics(forward/inverse) library using nalgebra.

k has below functionalities

Forward kinematics
Inverse kinematics
URDF Loader

Modules

math
urdf

Structs

Ancestors
Descendants
JacobianIKSolver	Inverse Kinematics Solver using Jacobian matrix
JacobianIKSolverBuilder	Build `jacobianIKSolverBuilder`
Joint	Joint with type
Link	Joint and Link
LinkBuilder	Build a `Link<T>`
LinkChain	Kinematic chain using `Rc<RefCell<LinkNode<T>>>`
LinkTree	Kinematic Tree using `Rc<RefCell<Link<T>>>`
Node
NodeImpl	Generic Node for tree struct
NodeIter
NodeIterMut
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

ChainContainer	Create KinematicChain
InverseKinematicsSolver	IK solver
JointContainer	Container of links with joints
KinematicChain	`JointContainer` which has an end transform
LinkContainer	Container of links which has a transformation

Type Definitions

LinkNode
RcNode

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