rs_opw_kinematics/
parameters.rs

1//! Defines the OPW parameter data structure
2
3pub mod opw_kinematics {
4    use crate::utils::deg;
5
6    /// Parameters for the robot. See [parameters_robots.rs](parameters_robots.rs) for examples of concrete robot models.
7    #[derive(Debug, Clone, Copy)]
8    /// Parameters for the kinematic model of the robot.
9    pub struct Parameters {
10        /// The length of the first link of the robot (distance between joint 1 and joint 2).
11        pub a1: f64,
12
13        /// The length of the second link of the robot (distance between joint 2 and joint 3).
14        pub a2: f64,
15
16        /// The offset in the y-direction between joint 1 and joint 2.
17        /// This can be 0 for robots without a lateral offset that is very common.
18        pub b: f64,
19
20        /// The vertical distance from the base (joint 1) to joint 2 along the z-axis.
21        pub c1: f64,
22
23        /// The vertical distance between joints 2 and 3 along the z-axis.
24        pub c2: f64,
25
26        /// The offset between joint 3 and joint 4, typically along the x-axis.
27        pub c3: f64,
28
29        /// The distance from the wrist center (last joint) to the end-effector mount
30        /// In 5-DOF robots, this defines the offset between joint 5 and the end-effector mount
31        pub c4: f64,
32
33        /// Offsets applied to each joint angle to adjust the reference zero position.
34        /// There are 6 values corresponding to each joint in a 6-DOF robot.
35        pub offsets: [f64; 6],
36
37        /// Specifies the direction of positive rotation from the zero angle for each joint.
38        /// A value of `-1` reverses the default rotation direction for that joint.
39        pub sign_corrections: [i8; 6],
40
41        /// Degrees of freedom for the robot.
42        /// This can either be 5 for 5-DOF robots or 6 for 6-DOF robots.
43        pub dof: i8
44    }
45
46
47    impl Parameters {
48        /// Convert to string yaml representation (quick viewing, etc).
49        pub fn to_yaml(&self) -> String {
50            format!(
51                "opw_kinematics_geometric_parameters:\n  \
52              a1: {}\n  \
53              a2: {}\n  \
54              b: {}\n  \
55              c1: {}\n  \
56              c2: {}\n  \
57              c3: {}\n  \
58              c4: {}\n\
59            opw_kinematics_joint_offsets: [{}]\n\
60            opw_kinematics_joint_sign_corrections: [{}]\n\
61            dof: {}\n",
62                self.a1,
63                self.a2,
64                self.b,
65                self.c1,
66                self.c2,
67                self.c3,
68                self.c4,
69                self.offsets.iter().map(|x| deg(x))
70                    .collect::<Vec<_>>().join(","),
71                self.sign_corrections.iter().map(|x| x.to_string())
72                    .collect::<Vec<_>>().join(","),
73                self.dof
74            )
75        }        
76    }
77}
rs_opw_kinematics/parameters.rs

rs_opw_kinematics/
parameters.rs
