Crate use_kinematics_label 

use-kinematics-label

Primitive kinematics terminology labels for RustUse robotics.

This crate provides descriptive kinematics kinds, kinematic chain names, link names, and non-zero degrees of freedom. It does not implement forward kinematics, inverse kinematics, Jacobians, solvers, or robot dynamics.

Example

use use_kinematics_label::{DegreeOfFreedom, KinematicChainName, KinematicsKind, LinkName};

let kind = "forward".parse::<KinematicsKind>()?;
let chain = KinematicChainName::new("arm-chain")?;
let link = LinkName::new("wrist-link")?;
let dof = DegreeOfFreedom::new(6)?;

assert_eq!(kind.to_string(), "forward");
assert_eq!(chain.as_str(), "arm-chain");
assert_eq!(link.as_str(), "wrist-link");
assert_eq!(dof.get(), 6);

The values are labels only. They do not solve kinematics.

License

Licensed under either the MIT license or Apache License, Version 2.0. Primitive kinematics terminology labels.

Structs

DegreeOfFreedom

A non-zero degree-of-freedom count.

KinematicChainName

A non-empty kinematic chain name.

LinkName

A non-empty link name.

Enums

DegreeOfFreedomError

Errors returned while constructing degrees of freedom.

KinematicsKind

Descriptive kinematics terminology.

KinematicsKindParseError

Error returned when parsing kinematics kinds fails.

KinematicsTextError

Errors returned while constructing kinematics text values.