Re-exports§
pub use utils::*;
Modules§
Macros§
Structs§
- ArmControl
Rhythm - ArmKine
Cache - ArmMotion
Rhythm - ArmState
- ArmState
Sample - Cartesian
Impedance Handle - Cartesian
Impedance Rhythm - Common
Stop - Joint
- Joint
Impedance Handle - Joint
Impedance Rhythm - Joint
State Entry - State of a single joint, identified by name.
- Link
- Load
State - Load state of the robot. Includes mass, center of mass, and inertia tensor.
Enums§
- Analytic
Family - Control
Type - Coord
- DhParam
- Denavit-Hartenberg parameters for a robotic arm link.
- Entity
- IKMethod
- Joint
Type - Motion
Type - Pose
- Robot
Exception
Constants§
Traits§
- AddCollision
- AddRobot
- AddSearch
Path - AddVisual
- Arm
- ArmDOF
- ArmDynamics
- ArmForward
Kinematics - ArmImpedance
- ArmInverse
Kinematics - ArmParam
- ArmPreplanned
Motion - ArmPreplanned
Motion Ext - ArmPreplanned
Path - ArmRealtime
Control - ArmRealtime
Control Ext - ArmStreaming
Handle - ArmStreaming
Motion - ArmStreaming
Motion Ext - Attach
From - Entity
Builder - Joint
State Sync - Trait for robots that can expose a live joint-state map.
- Physics
Engine - Realtime
- Renderer
- Robot
- Robot
- Robot
File - World
Functions§
- deserialize_
error - invalid_
ffi - joint_
state_ map_ from_ arm_ state - Build a
HashMap<String, JointStateEntry>from joint names and anArmState. - roplat_
data_ dir - update_
joint_ state_ map - Update an existing
JointStateMapin-place from joint names and anArmState, avoiding allocation when the map already contains the expected keys.
Type Aliases§
- Collision
- Iso3
- JMat
- JVec
- Jaco
- Joint
State Map - A shared, lock-protected map from joint name to
JointStateEntry. - Robot
Result - Twist
- Visual
- Wrench