Module robot_geometry 

Robot geometry: DH parameters, forward/inverse kinematics, Jacobians, workspace computation, collision checking, and self-collision detection.

All transforms are represented as 4×4 homogeneous matrices stored in row-major order as [f64; 16]. Joint arrays use plain [f64; 3] vectors for positions and axes. No external linear-algebra crate is used.

Structs

DhParam

Standard Denavit-Hartenberg parameters for a single joint/link.

JointLimits

Angular or linear limits for a single joint.

ReachabilityMap

A coarse voxel reachability map for a robot arm.

RobotArm

A serial-chain robot arm described by a sequence of DH links.

RobotLink

Describes a single link of a robot arm.

UrdfJoint

A joint in a URDF-like robot description.

UrdfLink

A link in a URDF-like description.

UrdfRobot

A complete URDF-like robot description parsed from structs.

Enums

JointType

Type of a robot joint.

SingularityClass

Classifies the manipulability of a configuration.

Functions

build_6dof_puma_like

Builds a 6-DOF robot arm using standard Puma-like DH parameters.

build_planar_3dof

Builds a 3-DOF planar robot arm (all joints revolute, links in XY plane).

capsule_aabb_overlap

Tests whether a capsule (axis [a,b], radius r) overlaps an AABB.

classify_singularity

Classifies the singularity of a configuration from its manipulability value.

dist_point_segment

Minimum distance from point p to line segment [a, b].

dist_segment_segment

Minimum distance between two line segments [a1,b1] and [a2,b2].

end_effector_velocity

Computes the end-effector Cartesian velocity given joint velocities dq.

jacobian_condition_number

Estimates the condition number of the 3×n Jacobian via the ratio of the largest to smallest singular value approximation.

joint_space_path

Generates a linear interpolation path in joint space.

joint_torques_from_force

Computes the joint torques required to produce a given end-effector force.

joint_velocity_from_cartesian

Computes the minimum norm joint velocity for a desired Cartesian velocity.

mat3_det

Computes the determinant of a 3×3 row-major matrix.

mat3_inverse

Computes the inverse of a 3×3 row-major matrix.

mat4_identity

Returns the 4×4 identity matrix.

mat4_mul

Multiplies two 4×4 row-major matrices.

mat4_transform_dir

Transforms a 3-direction (w = 0) by a 4×4 matrix.

mat4_transform_point

Transforms a 3-vector by a 4×4 homogeneous matrix (w = 1).

mat4_translation

Extracts the translation component from a 4×4 matrix.

mat4_transpose

Transposes a 4×4 row-major matrix.

path_collision_free

Checks whether every configuration along a straight-line joint-space path is within joint limits and collision-free with respect to a sphere obstacle.

Type Aliases

Mat4

A 4×4 homogeneous transformation matrix stored row-major.