Struct Parameters 

pub struct Parameters {
    pub a1: f64,
    pub a2: f64,
    pub b: f64,
    pub c1: f64,
    pub c2: f64,
    pub c3: f64,
    pub c4: f64,
    pub offsets: [f64; 6],
    pub sign_corrections: [i8; 6],
    pub dof: i8,
}

Parameters for the robot. See parameters_robots.rs for examples of concrete robot models. Parameters for the kinematic model of the robot.

Fields

a1: f64

The length of the first link of the robot (distance between joint 1 and joint 2).

a2: f64

The length of the second link of the robot (distance between joint 2 and joint 3).

b: f64

The offset in the y-direction between joint 1 and joint 2. This can be 0 for robots without a lateral offset that is very common.

c1: f64

The vertical distance from the base (joint 1) to joint 2 along the z-axis.

c2: f64

The vertical distance between joints 2 and 3 along the z-axis.

c3: f64

The offset between joint 3 and joint 4, typically along the x-axis.

c4: f64

The distance from the wrist center (last joint) to the end-effector mount In 5-DOF robots, this defines the offset between joint 5 and the end-effector mount

offsets: [f64; 6]

Offsets applied to each joint angle to adjust the reference zero position. There are 6 values corresponding to each joint in a 6-DOF robot.

sign_corrections: [i8; 6]

Specifies the direction of positive rotation from the zero angle for each joint. A value of -1 reverses the default rotation direction for that joint.

dof: i8

Degrees of freedom for the robot. This can either be 5 for 5-DOF robots or 6 for 6-DOF robots.

Implementations

impl Parameters

pub fn to_yaml(&self) -> String

Convert to string yaml representation (quick viewing, etc).

impl Parameters

pub fn new() -> Self

pub fn igus_rebel() -> Self

pub fn irb2400_10() -> Self

pub fn staubli_tx2_140() -> Self

pub fn staubli_tx2_160() -> Self

pub fn staubli_tx2_160l() -> Self

pub fn fanuc_r2000ib_200r() -> Self

pub fn kuka_kr6_r700_sixx() -> Self

pub fn staubli_tx40() -> Self

pub fn staubli_rx160() -> Self

pub fn irb2600_12_165() -> Self

pub fn irb4600_60_205() -> Self

pub fn abb_1600() -> Self

Corrected ABB IRB 1600-10/1.45 parameters based on ROS Industrial Reference: https://github.com/ros-industrial/abb/blob/noetic-devel/abb_irb1600_support/config/opw_parameters_irb1600_10_145.yaml

impl Parameters

pub fn from_yaml_file<P: AsRef<Path>>(path: P) -> Result<Self, ParameterError>

Read the robot configuration from YAML file. YAML file like this is supported:

# FANUC m16ib20
opw_kinematics_geometric_parameters:
  a1: 0.15
  a2: -0.10
  b: 0.0
  c1: 0.525
  c2: 0.77
  c3: 0.74
  c4: 0.10
opw_kinematics_joint_offsets: [0.0, 0.0, deg(-90.0), 0.0, 0.0, deg(180.0)]
opw_kinematics_joint_sign_corrections: [1, 1, -1, -1, -1, -1]
dof: 6

Offsets, sign corrections, and DOF are optional.

YAML extension to parse the deg(angle) function is supported (serde_saphyr).

See e.g. ROS-Industrial fanuc_m16ib_support opw yaml.

Trait Implementations

impl Clone for Parameters

fn clone(&self) -> Parameters

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for Parameters

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

Formats the value using the given formatter.

impl Copy for Parameters