1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
extern crate nalgebra as na;
use errors::*;
use joints::*;
use na::{Isometry3, Real, Translation3, UnitQuaternion};
use std::cell::RefCell;
#[derive(Debug, Clone)]
pub struct Link<T: Real> {
pub name: String,
pub joint: Joint<T>,
pub transform: Isometry3<T>,
pub world_transform_cache: RefCell<Option<Isometry3<T>>>,
}
impl<T> Link<T>
where
T: Real,
{
pub fn new(name: &str, joint: Joint<T>) -> Link<T> {
Link {
name: name.to_string(),
joint: joint,
transform: Isometry3::identity(),
world_transform_cache: RefCell::new(None),
}
}
pub fn get_joint_name(&self) -> &str {
&self.joint.name
}
pub fn calc_transform(&self) -> Isometry3<T> {
self.transform * self.joint.calc_transform()
}
pub fn set_joint_angle(&mut self, angle: T) -> Result<(), JointError> {
self.joint.set_angle(angle)
}
pub fn get_joint_angle(&self) -> Option<T> {
self.joint.get_angle()
}
pub fn has_joint_angle(&self) -> bool {
match self.joint.joint_type {
JointType::Fixed => false,
_ => true,
}
}
}
#[derive(Debug, Clone)]
pub struct LinkBuilder<T: Real> {
name: String,
joint: Joint<T>,
transform: Isometry3<T>,
}
impl<T> Default for LinkBuilder<T>
where
T: Real,
{
fn default() -> Self {
Self::new()
}
}
impl<T> LinkBuilder<T>
where
T: Real,
{
pub fn new() -> LinkBuilder<T> {
LinkBuilder {
name: "".to_string(),
joint: Joint::new("", JointType::Fixed),
transform: Isometry3::identity(),
}
}
pub fn name(mut self, name: &str) -> LinkBuilder<T> {
self.name = name.to_string();
self
}
pub fn joint(
mut self,
name: &str,
joint_type: JointType<T>,
limits: Option<Range<T>>,
) -> LinkBuilder<T> {
self.joint = Joint::new(name, joint_type);
self.joint.set_limits(limits);
self
}
pub fn transform(mut self, transform: Isometry3<T>) -> LinkBuilder<T> {
self.transform = transform;
self
}
pub fn translation(mut self, translation: Translation3<T>) -> LinkBuilder<T> {
self.transform.translation = translation;
self
}
pub fn rotation(mut self, rotation: UnitQuaternion<T>) -> LinkBuilder<T> {
self.transform.rotation = rotation;
self
}
pub fn finalize(self) -> Link<T> {
Link {
name: self.name,
joint: self.joint,
transform: self.transform,
world_transform_cache: RefCell::new(None),
}
}
}