Struct KinematicsWithShape 

pub struct KinematicsWithShape {
    pub kinematics: Arc<dyn Kinematics>,
    pub body: RobotBody,
}

Struct that combines the kinematic model of a robot with its geometrical shape. This struct provides both the kinematic functionality for computing joint positions and the physical structure used for collision detection and other geometric calculations.

Fields

kinematics: Arc<dyn Kinematics>

The kinematic model of the robot, typically used to compute forward and inverse kinematics. This is an abstract trait (Kinematics), allowing for different implementations of kinematic models.

body: RobotBody

The physical structure of the robot, represented by its joint geometries. This RobotBody contains information about the geometrical shapes of the joints and provides functionality for collision detection.

Implementations

impl KinematicsWithShape

pub fn new( opw_parameters: Parameters, constraints: Constraints, joint_meshes: [TriMesh; 6], base_mesh: TriMesh, base_transform: Isometry3<f64>, tool_mesh: TriMesh, tool_transform: Isometry3<f64>, collision_environment: Vec<CollisionBody>, first_collision_only: bool, ) -> Self

Constructs a new KinematicsWithShape instance for a 6DOF robot. This method consumes all parameters, moving them inside the robot. This is important for meshes that are bulky.

Parameters

• opw_parameters - OPW parameters defining this robot

• constraints: joint constraint limits

• joint_meshes - An array of [TriMesh; 6] representing the meshes for each joint’s body.

• base_mesh - The mesh of the robot base.

• base_transform - The transform to apply to the base mesh. This transform brings the robot into its intended location inside the robotic cell.

• tool_mesh - The mesh of the robot’s tool, which will also be checked for collisions.

• tool_transform - The transform to apply to the tool mesh. It defines the location of the “action point” of the robot whose location and rotation (pose) is the pose for direct and inverse kinematics calls.

• collision_environment - A vector of collision objects represented by CollisionBody, where each object includes a mesh and its transform.

• first_pose_only - As collision check may be expensive, check if we need multiple checked solutions if inverse kinematics, or the first (best) is enough

Returns

A KinematicsWithShape instance with defined kinematic structure and shapes for collision detection.

pub fn with_safety( opw_parameters: Parameters, constraints: Constraints, joint_meshes: [TriMesh; 6], base_mesh: TriMesh, base_transform: Isometry3<f64>, tool_mesh: TriMesh, tool_transform: Isometry3<f64>, collision_environment: Vec<CollisionBody>, safety: SafetyDistances, ) -> Self

Constructs a new KinematicsWithShape instance for a 6DOF robot. This method consumes all parameters, moving them inside the robot. This is important for meshes that are bulky.

Parameters

• opw_parameters - OPW parameters defining this robot

• constraints: joint constraint limits

• joint_meshes - An array of [TriMesh; 6] representing the meshes for each joint’s body.

• base_mesh - The mesh of the robot base.

• base_transform - The transform to apply to the base mesh. This transform brings the robot into its intended location inside the robotic cell.

• tool_mesh - The mesh of the robot’s tool, which will also be checked for collisions.

• tool_transform - The transform to apply to the tool mesh. It defines the location of the “action point” of the robot whose location and rotation (pose) is the pose for direct and inverse kinematics calls.

• collision_environment - A vector of collision objects represented by CollisionBody, where each object includes a mesh and its transform.

• safety - defines the minimal allowed distances between collision objects and specifies other details on how collisions are checked. In practice robot must stay at some safe distance from collision objects rather than touching them.

Returns

A KinematicsWithShape instance with defined kinematic structure and shapes for collision detection.

impl KinematicsWithShape

pub fn positioned_robot(&self, joint_positions: &Joints) -> PositionedRobot<'_>

Method to compute and return a PositionedRobot from the current RobotBody and a set of joint positions.

This method uses the forward kinematics to compute the global transforms of each joint and then creates the corresponding PositionedJoint instances, which are collected into a PositionedRobot.

Arguments

• joint_positions - A reference to the joint values (angles/positions) to compute the forward kinematics.

Returns

• A new instance of PositionedRobot containing the positioned joints with precomputed transforms.

impl KinematicsWithShape

pub fn collides(&self, joints: &Joints) -> bool

Check for collisions for the given joint position. Both self-collisions and collisions with environment are checked. This method simply returns true (if collides) or false (if not)

pub fn non_colliding_offsets( &self, joints: &Joints, from: &Joints, to: &Joints, ) -> Solutions

Return non colliding offsets, tweaking each joint plus minus either side, either into ‘to’ or into ‘from’. This is required for planning algorithms like A*. We can do less collision checks as we only need to check the joint branch of the robot we moved.

pub fn collision_details(&self, joints: &Joints) -> Vec<(usize, usize)>

Provide details about he collision, who with whom collides or comes too near. Depending on if the RobotBody has been configured for complete check, either all collisions or only the first found colliding pair is returned.

pub fn near( &self, joints: &Joints, safety: &SafetyDistances, ) -> Vec<(usize, usize)>

Allows overriding collision check with the custom instance of safety distance. This is needed when the safety configuration is adaptive/dynamic rather than fixed.

Trait Implementations

impl Kinematics for KinematicsWithShape

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

Delegates call to underlying Kinematics, but will filter away colliding poses

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

Delegates call to underlying Kinematics, but will filter away colliding poses

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

Delegates call to underlying Kinematics, but will filter away colliding poses

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

Delegates call to underlying Kinematics, but will filter away colliding poses

fn forward(&self, qs: &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 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.

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

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

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.