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mod chained;
mod cluster_objects;
mod joint;
mod link;
mod transform;

type ArcLock<T> = std::sync::Arc<std::sync::RwLock<T>>;
type WeakLock<T> = std::sync::Weak<std::sync::RwLock<T>>;

pub mod identifiers;
pub mod material;
pub mod to_rdf;
pub mod transmission;
pub use chained::Chained;
pub use cluster_objects::{KinematicInterface, KinematicTree, Robot};
pub use joint::{joint_data, Joint, JointBuilder, JointType, SmartJointBuilder};
pub use link::{helper_functions, link_data, Link};
pub use transform::{MirrorAxis, Transform};

pub mod linkbuilding {
	pub use super::link::builder::*;
}

/// TODO: Docs
pub mod prelude {
	pub use super::cluster_objects::KinematicInterface;
	pub use super::identifiers::GroupIDChanger;
	// TODO: maybe add builders to prelude?
	// pub use joint::{SmartJointBuilder};
	// pub use material::MaterialDescriptor;
}

/// TODO: Docs

pub mod errors {
	pub use super::cluster_objects::kinematic_data_errors::{
		AddJointError, AddLinkError, AddMaterialError, AddTransmissionError,
	};
	pub use super::identifiers::GroupIDError;
}

#[cfg(feature = "wrapper")]
pub mod reexport {
	pub use nalgebra;
	#[cfg(feature = "xml")]
	pub use quick_xml;
}

#[cfg(feature = "smart-joint-extension")]
pub mod smart_joint_extension {
	pub mod types {
		pub use crate::joint::smartjointbuilder::{
			ContinuousType, FixedType, FloatingType, NoType, PlanarType, PrismaticType,
			RevoluteType,
		};
	}
	pub use super::joint::smartjointbuilder::smartparams;
}

#[cfg(test)]
mod tests {
	// #[test]
	// fn it_works() {
	// 	let result = add(2, 2);
	// 	assert_eq!(result, 4);
	// }
}