Struct RobotArmBuilder 

pub struct RobotArmBuilder { /* private fields */ }

Builder for generating code for a serial robot arm.

Created by robot_arm(). Accumulates requested functions and then delegates to CodeGen for final output. All symbolic work happens in a private Context owned by the builder.

Implementations

impl RobotArmBuilder

pub fn generate_fk(self, name: &str) -> Self

Generate forward kinematics position functions (fk_x, fk_y, fk_z).

pub fn generate_fk_matrix(self, name: &str) -> Self

Generate the full 4×4 homogeneous forward-kinematics transform as a matrix function name(theta…) -> [f64; 16] (row-major), via symplex::robotics::fk_chain.

The position functions from generate_fk are the last column of this matrix; the upper-left 3×3 block is the end-effector rotation.

pub fn generate_jacobian(self, name: &str) -> Self

Generate the Jacobian matrix function.

pub fn generate_all(self) -> Self

Generate all standard functions (FK position + Jacobian).

pub fn no_std(self) -> Self

Enable no_std-compatible output.

pub fn write_to_out_dir(self, filename: &str) -> Result<(), Box<dyn Error>>

Write generated code to $OUT_DIR/<filename>.

pub fn write_to_path(self, path: impl AsRef<Path>) -> Result<(), Box<dyn Error>>

Write generated code to an explicit path.

pub fn into_codegen(self) -> CodeGen

Get the inner CodeGen builder for further customization.