Struct OPWKinematics 

pub struct OPWKinematics { /* private fields */ }

Implementations

impl OPWKinematics

pub fn new(parameters: Parameters) -> Self

Creates a new OPWKinematics instance with the given parameters.

pub fn new_with_constraints( parameters: Parameters, constraints: Constraints, ) -> Self

Create a new instance that takes also Constraints. If constraints are set, all solutions returned by this solver are constraint compliant.

Trait Implementations

impl Clone for OPWKinematics

fn clone(&self) -> OPWKinematics

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for OPWKinematics

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Kinematics for OPWKinematics

fn inverse(&self, pose: &Pose) -> Solutions

Return the solution that is constraint compliant anv values are valid (no NaNs, etc) but otherwise not sorted. If this is 5 degree of freedom robot only, the 6 joint is set to 0.0 The rotation of pose in this case is only approximate.

fn inverse_continuing(&self, pose: &Pose, prev: &Joints) -> Solutions

Find inverse kinematics (joint position) for this pose This function handles the singularity J5 = 0 by keeping the previous values the values J4 and J6 from the previous solution Use CONSTRAINT_CENTERED as previous if there is no previous position but we prefer to be as close to the center of constraints (or zeroes if not set) as possible. “Previous” can be in a wide range, say 90000 degrees.

fn forward(&self, joints: &Joints) -> Pose

Find forward kinematics (pose from joint positions). For 5 DOF robot, the rotation of the joint 6 should normally be 0.0 but some other value can be given, meaning the tool is mounted with fixed rotation offset.

fn forward_with_joint_poses(&self, joints: &Joints) -> [Pose; 6]

Computes the forward kinematics for a 6-DOF robotic arm and returns an array of poses representing the position and orientation of each joint, including the final end-effector.

fn inverse_5dof(&self, pose: &Pose, j6: f64) -> Solutions

Calculates the inverse kinematics for a robot while ignoring the rotation around joint 6. The position of the tool center point remains precise, but the rotation is approximate (rotation around the tool axis is ignored). The return value for joint 6 is set according to the provided parameter. This method is significantly faster

fn inverse_continuing_5dof(&self, pose: &Pose, prev: &Joints) -> Solutions

Calculates the inverse kinematics for a robot while ignoring the rotation around joint 6. The position of the tool center point remains precise, but the rotation is approximate (rotation around the tool axis is ignored). The return value for joint 6 is set based on the previous joint values. This method is significantly faster

fn kinematic_singularity(&self, joints: &Joints) -> Option<Singularity>

Detect the singularity. Returns either A type singularity or None if no singularity detected.

fn constraints(&self) -> &Option<Constraints>

Returns constraints under what the solver is operating. Constraints are remembered here and can be used for generating random joint angles needed by RRT, or say providing limits of sliders in GUI.

impl Copy for OPWKinematics