Struct DhParameters 

pub struct DhParameters {
    pub a: f32,
    pub alpha: f32,
    pub d: f32,
    pub theta: f32,
}

The four Denavit-Hartenberg parameters describing one joint-to-joint step of a serial arm.

The DH convention pins each link with four numbers, so an arm is just a list of these. For a revolute joint the joint variable is theta; for a prismatic joint it is d.

Fields

a: f32

Link length: distance along the common normal, in metres.

alpha: f32

Link twist: angle about the common normal, in radians.

d: f32

Link offset: distance along the previous z axis, in metres.

theta: f32

Joint angle: rotation about the previous z axis, in radians.

Implementations

impl DhParameters

pub fn transform(&self) -> Transform

Returns the homogeneous Transform for this DH step.

Returns

The standard DH transform built from (a, alpha, d, theta).

Trait Implementations

impl Clone for DhParameters

fn clone(&self) -> DhParameters

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Copy for DhParameters

impl Debug for DhParameters

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl PartialEq for DhParameters

fn eq(&self, other: &DhParameters) -> bool

Equality operator ==.

fn ne(&self, other: &Rhs) -> bool

Inequality operator !=.

impl StructuralPartialEq for DhParameters