# Crate k[−][src]

Expand description

## Kinematics (forward/inverse) library using nalgebra.

`k` has below functionalities

1. Forward kinematics
2. Inverse kinematics

See `Chain` as the top level interface.

## Re-exports

`pub use self::link::Link;`
`pub use self::node::Node;`
`pub use self::node::NodeBuilder;`
`pub use nalgebra;`
`pub use simba;`

## Modules

Iterators to iterate descendants and ancestors

Joint related structs

`link` can be used to show the shape of the robot, or collision checking libraries.

graph structure for kinematic chain

Load basic traits of `k`

Load URDF format and create `k::Chain`

## Macros

set parents easily

## Structs

Kinematic Chain using `Node`

A bundle of flags determining which coordinates are constrained for a target

Inverse Kinematics Solver using Jacobian matrix

Joint with type

Kinematic chain without any branch.

## Enums

The reason of joint error

Type of Joint, `Fixed`, `Rotational`, `Linear` is supported now

## Traits

Trait shared by all reals.

Trait shared by all reals.

Nested sets and conversions between them (using an injective mapping). Useful to work with substructures. In generic code, it is preferable to use `SupersetOf` as trait bound whenever possible instead of `SubsetOf` (because SupersetOf is automatically implemented whenever `SubsetOf` is).

Nested sets and conversions between them. Useful to work with substructures. It is preferable to implement the `SubsetOf` trait instead of `SupersetOf` whenever possible (because `SupersetOf` is automatically implemented whenever `SubsetOf` is).

## Functions

Calculate the center of mass of the chain

Utility function to create nullspace function using reference joint positions. This is just an example to use nullspace.

Calculate Jacobian of the serial chain (manipulator).

## Type Definitions

A 3-dimensional direct isometry using a unit quaternion for its rotational part.

A 3-dimensional translation.

A unit quaternions. May be used to represent a rotation.

A stack-allocated, 3-dimensional column vector.