use_robotics/
lib.rs

1#![forbid(unsafe_code)]
2#![doc = include_str!("../README.md")]
3
4//! Thin facade for `RustUse` robotics vocabulary primitive crates.
5
6pub use use_actuator as actuator;
7pub use use_end_effector as end_effector;
8pub use use_frame as frame;
9pub use use_joint as joint;
10pub use use_kinematics_label as kinematics_label;
11pub use use_pose as pose;
12pub use use_robot as robot;
13pub use use_robot_id as robot_id;
14pub use use_robot_sensor as robot_sensor;
15pub use use_robot_subsystem as robot_subsystem;
16
17/// Common robotics vocabulary types from the focused crates.
18pub mod prelude {
19    pub use crate::actuator::{ActuatorKind, ActuatorName, ActuatorRating, ActuatorState};
20    pub use crate::end_effector::{EndEffectorKind, EndEffectorName, GripState, ToolMount};
21    pub use crate::frame::{FrameKind, FrameName, FrameRef, FrameRelation};
22    pub use crate::joint::{JointAxis, JointIndex, JointKind, JointLimit, JointName};
23    pub use crate::kinematics_label::{
24        DegreeOfFreedom, KinematicChainName, KinematicsKind, LinkName,
25    };
26    pub use crate::pose::{OrientationKind, Pose2Label, Pose3Label, PoseKind, PoseName};
27    pub use crate::robot::{RobotKind, RobotManufacturer, RobotModel, RobotName};
28    pub use crate::robot_id::{RobotId, RobotInstanceId, RobotSerialNumber};
29    pub use crate::robot_sensor::{
30        RobotSensorKind, RobotSensorName, SensorMount, SensorReadingKind,
31    };
32    pub use crate::robot_subsystem::{RobotSubsystemKind, RobotSubsystemName, SubsystemState};
33}
34
35#[cfg(test)]
36mod tests {
37    use super::{
38        actuator, end_effector, frame, joint, kinematics_label, pose, robot, robot_id,
39        robot_sensor, robot_subsystem,
40    };
41
42    #[test]
43    fn facade_exposes_composable_robotics_primitives() -> Result<(), Box<dyn std::error::Error>> {
44        let robot_name = robot::RobotName::new("inspection-arm")?;
45        let serial = robot_id::RobotSerialNumber::new("SN-42A")?;
46        let joint_name = joint::JointName::new("shoulder-pan")?;
47        let limit = joint::JointLimit::new(Some(-1.57), Some(1.57))?;
48        let actuator_name = actuator::ActuatorName::new("shoulder-servo")?;
49        let sensor_name = robot_sensor::RobotSensorName::new("wrist-camera")?;
50        let frame_ref =
51            frame::FrameRef::new(frame::FrameName::new("tool0")?, frame::FrameKind::Tool);
52        let pose_label = pose::Pose3Label::new("pick-ready")?;
53        let end_effector = end_effector::EndEffectorKind::Gripper;
54        let dof = kinematics_label::DegreeOfFreedom::new(6)?;
55        let subsystem_state = robot_subsystem::SubsystemState::Ready;
56
57        assert_eq!(robot_name.as_str(), "inspection-arm");
58        assert_eq!(serial.as_str(), "SN-42A");
59        assert_eq!(joint_name.as_str(), "shoulder-pan");
60        assert_eq!(limit.minimum(), Some(-1.57));
61        assert_eq!(actuator_name.as_str(), "shoulder-servo");
62        assert_eq!(sensor_name.as_str(), "wrist-camera");
63        assert_eq!(frame_ref.kind(), &frame::FrameKind::Tool);
64        assert_eq!(pose_label.as_str(), "pick-ready");
65        assert_eq!(end_effector.to_string(), "gripper");
66        assert_eq!(dof.get(), 6);
67        assert_eq!(subsystem_state.to_string(), "ready");
68        Ok(())
69    }
70}
use_robotics/lib.rs

use_robotics/
lib.rs
