Crate use_joint 

use-joint

Primitive robot joint vocabulary for RustUse.

This crate provides descriptive joint names, kinds, limits, axes, and indexes. It does not solve kinematics, enforce robot-specific constraints, control motors, or simulate motion.

Example

use use_joint::{JointAxis, JointIndex, JointKind, JointLimit, JointName};

let name = JointName::new("shoulder-pan")?;
let kind = "revolute".parse::<JointKind>()?;
let axis = "z".parse::<JointAxis>()?;
let limit = JointLimit::new(Some(-1.57), Some(1.57))?;
let index = JointIndex::new(0);

assert_eq!(name.as_str(), "shoulder-pan");
assert_eq!(kind.to_string(), "revolute");
assert_eq!(axis.to_string(), "z");
assert_eq!(limit.maximum(), Some(1.57));
assert_eq!(index.get(), 0);

License

Licensed under either the MIT license or Apache License, Version 2.0. Primitive robot joint vocabulary.

Structs

JointIndex

A zero-based joint index label.

JointLimit

Optional descriptive joint limits.

JointName

A non-empty joint name.

Enums

JointAxis

Descriptive joint axis labels.

JointAxisParseError

Error returned when parsing joint axes fails.

JointKind

Descriptive robot joint vocabulary.

JointKindParseError

Error returned when parsing joint kinds fails.

JointLimitError

Errors returned while constructing joint limits.

JointTextError

Errors returned while constructing joint text values.