rs_opw_kinematics::constraints

Struct Constraints

Source 
pub struct Constraints {
    pub from: [f64; 6],
    pub to: [f64; 6],
    pub centers: [f64; 6],
    pub tolerances: [f64; 6],
    pub sorting_weight: f64,
}

Fields§

§from: [f64; 6]

Normalized lower limit. If more than upper limit, the range wraps-around through 0

§to: [f64; 6]

Normalized upper limit. If less than lower limit, the range wraps-around through 0

§centers: [f64; 6]§tolerances: [f64; 6]§sorting_weight: f64

Used when sorting the solutions by both middle values of the constraints and the previous values of the joints. 1.0 gives the absolute priority to constraints, 0.0. gives absolute priority for joints.

Implementations§

Source§

impl Constraints

Source

pub fn new(from: Joints, to: Joints, sorting_weight: f64) -> Self

Create constraints that restrict the joint rotations between ‘from’ to ‘to’ values. Wrapping arround is supported so order is important. For instance, from = 0.1 and to = 0.2 (radians) means the joint is allowed to rotate to 0.11, 0.12 … 1.99, 0.2. from = 0.2 ant to = 0.1 is also valid but means the joint is allowed to rotate to 0.21, 0.22, 0.99, 2 * PI or 0.0 (wrapping around), then to 0.09 and finally 0.1, so the other side of the circle. The sorting_weight parameter influences sorting of the results: 0.0 (or BY_PREV) gives absolute priority to the previous values of the joints, 1.0 (or BY_CONSTRAINTS) gives absolute priority to the middle values of constraints. Intermediate values like 0.5 provide the weighted compromise.

Examples found in repository?
examples/constraints.rs (lines 10-14)
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fn main() {
    let robot = OPWKinematics::new_with_constraints(
        Parameters::irb2400_10(), Constraints::new(
            [-0.1, 0.0, 0.0, 0.0, -PI, -PI],
            [PI, PI, 2.0 * PI, PI, PI, PI],
            BY_PREV,
        ));

    let joints: Joints = [0.0, 0.1, 0.2, 0.3, 0.0, 0.5]; // Joints are alias of [f64; 6]
    let when_continuing_from_j6_0: [f64; 6] = [0.0, 0.11, 0.22, 0.8, 0.1, 0.0];

    let pose: Pose = robot.forward(&joints); // Pose is alias of nalgebra::Isometry3<f64>    

    println!("If we do not have the previous pose yet, we can now ask to prever the pose \
    closer to the center of constraints.");
    let solutions = robot.inverse_continuing(&pose, &CONSTRAINT_CENTERED);
    dump_solutions(&solutions);

    println!("With constraints, sorted by proximity to the previous pose");
    let solutions = robot.inverse_continuing(&pose, &when_continuing_from_j6_0);
    dump_solutions(&solutions);

    let robot = OPWKinematics::new_with_constraints(
        Parameters::irb2400_10(), Constraints::new(
            [-0.1, 0.0, 0.0, 0.0, -PI, -PI],
            [PI, PI, 2.0 * PI, PI, PI, PI],
            BY_CONSTRAINS,
        ));
    println!("With constraints, sorted by proximity to the center of constraints");
    let solutions = robot.inverse_continuing(&pose, &when_continuing_from_j6_0);
    dump_solutions(&solutions);
}
More examples
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examples/jacobian.rs (lines 12-16)
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fn main() {
    let robot = OPWKinematics::new_with_constraints(
        Parameters::irb2400_10(), Constraints::new(
            [-0.1, 0.0, 0.0, 0.0, -PI, -PI],
            [PI, PI, 2.0 * PI, PI, PI, PI],
            BY_CONSTRAINS,
        ));

    let joints: Joints = [0.0, 0.1, 0.2, 0.3, 0.0, 0.5]; // Joints are alias of [f64; 6]
    let jakobian = rs_opw_kinematics::jacobian::Jacobian::new(&robot, &joints, 1E-6);
    let desired_velocity_isometry =
        Isometry3::new(Vector3::new(0.0, 1.0, 0.0),
                       Vector3::new(0.0, 0.0, 1.0));
    let joint_velocities = jakobian.velocities(&desired_velocity_isometry);
    println!("Computed joint velocities: {:?}", joint_velocities.unwrap());

    let desired_force_torque =
        Isometry3::new(Vector3::new(0.0, 0.0, 0.0),
                       Vector3::new(0.0, 0.0, 1.234));

    let joint_torques = jakobian.torques(&desired_force_torque);
    println!("Computed joint torques: {:?}", joint_torques);

    // Robot with the tool, standing on a base:
    let robot_alone = OPWKinematics::new(Parameters::staubli_tx2_160l());

    // 1 meter high pedestal
    let pedestal = 0.5;
    let base_translation = Isometry3::from_parts(
        Translation3::new(0.0, 0.0, pedestal).into(),
        UnitQuaternion::identity(),
    );

    let robot_with_base = rs_opw_kinematics::tool::Base {
        robot: Arc::new(robot_alone),
        base: base_translation,
    };

    // Tool extends 1 meter in the Z direction, envisioning something like sword
    let sword = 1.0;
    let tool_translation = Isometry3::from_parts(
        Translation3::new(0.0, 0.0, sword).into(),
        UnitQuaternion::identity(),
    );

    // Create the Tool instance with the transformation
    let robot_complete = rs_opw_kinematics::tool::Tool {
        robot: Arc::new(robot_with_base),
        tool: tool_translation,
    };

    let tcp_pose: Pose = robot_complete.forward(&joints);
    println!("The sword tip is at: {:?}", tcp_pose);
}
Source

pub fn from_degrees( ranges: [RangeInclusive<f64>; 6], sorting_weight: f64, ) -> Self

Initializes Constraints from an array of 6 ranges (RangeInclusive<f64>), where each range specifies the from (start) and to (end) values for each joint. This is convenience method, where VALUES MUST BE GIVEN IN DEGREES.

§Parameters
  • ranges: An array of 6 RangeInclusive<f64> values, each representing a range for one joint.
    • The start of each range is taken as the from bound.
    • The end of each range is taken as the to bound.
  • sorting_weight: A f64 value representing the sorting weight for the constraint.
§Returns

A new instance of Constraints with from, to, centers, and tolerances calculated based on the specified ranges.

§Example
use rs_opw_kinematics::constraints::{Constraints, BY_PREV};
let constraints = Constraints::from_degrees(
  [0.0..=90.0, 45.0..=135.0, -90.0..=90.0, 0.0..=180.0, -45.0..=45.0, -180.0..=180.0], 
  BY_PREV);
Examples found in repository?
examples/path_planning_rrt.rs (lines 34-40)
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pub fn create_rx160_robot() -> KinematicsWithShape {
    use rs_opw_kinematics::read_trimesh::load_trimesh_from_stl;

    let monolith = load_trimesh_from_stl("src/tests/data/object.stl");

    KinematicsWithShape::new(
        Parameters {
            a1: 0.15,
            a2: 0.0,
            b: 0.0,
            c1: 0.55,
            c2: 0.825,
            c3: 0.625,
            c4: 0.11,
            ..Parameters::new()
        },
        // Constraints are used also to sample constraint-compliant random positions
        // as needed by this path planner.
        Constraints::from_degrees(
            [
                -225.0..=225.0, -225.0..=225.0, -225.0..=225.0,
                -225.0..=225.0, -225.0..=225.0, -225.0..=225.0,
            ],
            BY_PREV,
        ),
        [
            load_trimesh_from_stl("src/tests/data/staubli/rx160/link_1.stl"),
            load_trimesh_from_stl("src/tests/data/staubli/rx160/link_2.stl"),
            load_trimesh_from_stl("src/tests/data/staubli/rx160/link_3.stl"),
            load_trimesh_from_stl("src/tests/data/staubli/rx160/link_4.stl"),
            load_trimesh_from_stl("src/tests/data/staubli/rx160/link_5.stl"),
            load_trimesh_from_stl("src/tests/data/staubli/rx160/link_6.stl"),
        ],
        load_trimesh_from_stl("src/tests/data/staubli/rx160/base_link.stl"),
        Isometry3::from_parts(
            Translation3::new(0.4, 0.7, 0.0).into(),
            UnitQuaternion::identity(),
        ),
        load_trimesh_from_stl("src/tests/data/flag.stl"),
        Isometry3::from_parts(
            Translation3::new(0.0, 0.0, 0.5).into(),
            UnitQuaternion::identity(),
        ),
        vec![
            CollisionBody { mesh: monolith.clone(), pose: Isometry3::translation(1., 0., 0.) },
            CollisionBody { mesh: monolith.clone(), pose: Isometry3::translation(-1., 0., 0.) },
            CollisionBody { mesh: monolith.clone(), pose: Isometry3::translation(0., 1., 0.) },
            CollisionBody { mesh: monolith.clone(), pose: Isometry3::translation(0., -1., 0.) },
        ],
        true,
    )
}
More examples
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examples/cartesian_stroke.rs (lines 38-48)
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pub fn create_rx160_robot() -> KinematicsWithShape {
    use rs_opw_kinematics::read_trimesh::load_trimesh_from_stl;

    let monolith = load_trimesh_from_stl("src/tests/data/object.stl");

    KinematicsWithShape::with_safety(
        Parameters {
            a1: 0.15,
            a2: 0.0,
            b: 0.0,
            c1: 0.55,
            c2: 0.825,
            c3: 0.625,
            c4: 0.11,
            ..Parameters::new()
        },
        // Constraints are used also to sample constraint-compliant random positions
        // as needed by this path planner.
        Constraints::from_degrees(
            [
                -225.0..=225.0,
                -225.0..=225.0,
                -225.0..=225.0,
                -225.0..=225.0,
                -225.0..=225.0,
                -225.0..=225.0,
            ],
            BY_PREV,
        ),
        [
            load_trimesh_from_stl("src/tests/data/staubli/rx160/link_1.stl"),
            load_trimesh_from_stl("src/tests/data/staubli/rx160/link_2.stl"),
            load_trimesh_from_stl("src/tests/data/staubli/rx160/link_3.stl"),
            load_trimesh_from_stl("src/tests/data/staubli/rx160/link_4.stl"),
            load_trimesh_from_stl("src/tests/data/staubli/rx160/link_5.stl"),
            load_trimesh_from_stl("src/tests/data/staubli/rx160/link_6.stl"),
        ],
        load_trimesh_from_stl("src/tests/data/staubli/rx160/base_link.stl"),
        Isometry3::from_parts(
            Translation3::new(0.4, 0.7, 0.0).into(),
            UnitQuaternion::identity(),
        ),
        load_trimesh_from_stl("src/tests/data/flag.stl"),
        Isometry3::from_parts(
            Translation3::new(0.0, 0.0, 0.5).into(),
            UnitQuaternion::identity(),
        ),
        vec![
            CollisionBody {
                mesh: monolith.clone(),
                pose: Isometry3::translation(1., 0., 0.),
            },
            CollisionBody {
                mesh: monolith.clone(),
                pose: Isometry3::translation(-1., 0., 0.),
            },
            CollisionBody {
                mesh: monolith.clone(),
                pose: Isometry3::translation(0., 1., 0.),
            },
            CollisionBody {
                mesh: monolith.clone(),
                pose: Isometry3::translation(0., -1., 0.),
            },
        ],
        SafetyDistances {
            to_environment: 0.05,   // Robot should not come closer than 5 cm to pillars
            to_robot_default: 0.05, // No closer than 5 cm to itself.
            special_distances: SafetyDistances::distances(&[
                // Due construction of this robot, these joints are very close, so
                // special rules are needed for them.
                ((J2, J_BASE), NEVER_COLLIDES), // base and J2 cannot collide
                ((J3, J_BASE), NEVER_COLLIDES), // base and J3 cannot collide
                ((J2, J4), NEVER_COLLIDES),
                ((J3, J4), NEVER_COLLIDES),
                ((J4, J_TOOL), 0.02_f32), // reduce distance requirement to 2 cm.
                ((J4, J6), 0.02_f32),     // reduce distance requirement to 2 cm.
            ]),
            mode: CheckMode::FirstCollisionOnly, // First pose only (true, enough for path planning)
        },
    )
}
examples/complete_visible_robot.rs (lines 49-59)
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pub fn create_rx160_robot() -> KinematicsWithShape {
    use rs_opw_kinematics::read_trimesh::{load_trimesh_from_stl, load_trimesh_from_ply };

    // Environment object to collide with.
    let monolith = load_trimesh_from_stl("src/tests/data/object.stl");

    KinematicsWithShape::with_safety(
        // OPW parameters for Staubli RX 160
        Parameters {
            a1: 0.15,
            a2: 0.0,
            b: 0.0,
            c1: 0.55,
            c2: 0.825,
            c3: 0.625,
            c4: 0.11,
            ..Parameters::new()
        },
        // Define constraints directly in degrees, converting internally to radians.
        Constraints::from_degrees(
            [
                -225.0..=225.0,
                -225.0..=225.0,
                -225.0..=225.0,
                -225.0..=225.0,
                -225.0..=225.0,
                -360.0..=360.0,
            ],
            BY_PREV, // Prioritize previous joint position
        ),
        // Joint meshes
        [
            // If your meshes, if offset in .stl file, use Trimesh::transform_vertices,
            // you may also need Trimesh::scale in some extreme cases.
            // If your joints or tool consist of multiple meshes, combine these
            // with Trimesh::append
            load_trimesh_from_stl("src/tests/data/staubli/rx160/link_1.stl"),
            load_trimesh_from_stl("src/tests/data/staubli/rx160/link_2.stl"),
            load_trimesh_from_stl("src/tests/data/staubli/rx160/link_3.stl"),
            load_trimesh_from_stl("src/tests/data/staubli/rx160/link_4.stl"),
            load_trimesh_from_stl("src/tests/data/staubli/rx160/link_5.stl"),
            load_trimesh_from_stl("src/tests/data/staubli/rx160/link_6.stl"),
        ],
        // Base link mesh
        load_trimesh_from_stl("src/tests/data/staubli/rx160/base_link.stl"),
        // Base transform, this is where the robot is standing
        Isometry3::from_parts(
            Translation3::new(0.4, 0.7, 0.0).into(),
            UnitQuaternion::identity(),
        ),
        // Tool mesh. Load it from .ply file for feature demonstration
        load_trimesh_from_ply("src/tests/data/flag.ply"),
        // Tool transform, tip (not base) of the tool. The point past this
        // transform is known as tool center point (TCP).
        Isometry3::from_parts(
            Translation3::new(0.0, 0.0, 0.5).into(),
            UnitQuaternion::identity(),
        ),
        // Objects around the robot, with global transforms for them.
        vec![
            CollisionBody {
                mesh: monolith.clone(),
                pose: Isometry3::translation(1., 0., 0.),
            },
            CollisionBody {
                mesh: monolith.clone(),
                pose: Isometry3::translation(-1., 0., 0.),
            },
            CollisionBody {
                mesh: monolith.clone(),
                pose: Isometry3::translation(0., 1., 0.),
            },
            CollisionBody {
                mesh: monolith.clone(),
                pose: Isometry3::translation(0., -1., 0.),
            },
        ],
        SafetyDistances {
            to_environment: 0.05,   // Robot should not come closer than 5 cm to pillars
            to_robot_default: 0.05, // No closer than 5 cm to itself.
            special_distances: SafetyDistances::distances(&[
                // Due construction of this robot, these joints are very close, so
                // special rules are needed for them.
                ((J2, J_BASE), NEVER_COLLIDES), // base and J2 cannot collide
                ((J3, J_BASE), NEVER_COLLIDES), // base and J3 cannot collide
                ((J2, J4), NEVER_COLLIDES),
                ((J3, J4), NEVER_COLLIDES),
                ((J4, J_TOOL), 0.02_f32), // reduce distance requirement to 2 cm.
                ((J4, J6), 0.02_f32),     // reduce distance requirement to 2 cm.
            ]),
            mode: CheckMode::AllCollsions, // we need to report all for visualization
            // mode: CheckMode::NoCheck, // this is very fast but no collision check
        },
    )
}
Source

pub fn update_range(&mut self, from: Joints, to: Joints)

Source

pub fn compliant(&self, angles: &[f64; 6]) -> bool

Checks if all values in the given vector or angles satisfy these constraints.

Source

pub fn filter(&self, angles: &Vec<[f64; 6]>) -> Vec<[f64; 6]>

Return new vector of angle arrays, removing all that have members not satisfying these constraints.

Source

pub fn to_yaml(&self) -> String

Source

pub fn random_angles(&self) -> Joints

Generate a random valid angle within the defined constraints for each joint.

Examples found in repository?
examples/path_planning_rrt.rs (line 85)
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fn plan_path(
    kinematics: &KinematicsWithShape,
    start: Joints, goal: Joints,
) -> Result<Vec<Vec<f64>>, String> {
    let collision_free = |joint_angles: &[f64]| -> bool {
        let joints = &<Joints>::try_from(joint_angles).expect("Cannot convert vector to array");
        !kinematics.collides(joints)
    };

    // Constraint compliant random joint configuration generator. 
    let random_joint_angles = || -> Vec<f64> {
        // RRT requires vector and we return array so convert
        return kinematics.constraints()
            .expect("Set joint ranges on kinematics").random_angles().to_vec();
    };

    // Plan the path with RRT
    dual_rrt_connect(
        &start, &goal, collision_free,
        random_joint_angles, 3_f64.to_radians(), // Step size in joint space
        2000,  // Max iterations
    )
}

Trait Implementations§

Source§

impl Clone for Constraints

Source§

fn clone(&self) -> Constraints

Returns a copy of the value. Read more
1.0.0 · Source§

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

Performs copy-assignment from source. Read more
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impl Debug for Constraints

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

Formats the value using the given formatter. Read more
Source§

impl Copy for Constraints

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fn into_either_with<F>(self, into_left: F) -> Either<Self, Self>
where F: FnOnce(&Self) -> bool,

Converts self into a Left variant of Either<Self, Self> if into_left(&self) returns true. Converts self into a Right variant of Either<Self, Self> otherwise. Read more
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impl<T> Pointable for T

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const ALIGN: usize

The alignment of pointer.
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type Init = T

The type for initializers.
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unsafe fn init(init: <T as Pointable>::Init) -> usize

Initializes a with the given initializer. Read more
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unsafe fn deref<'a>(ptr: usize) -> &'a T

Dereferences the given pointer. Read more
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unsafe fn deref_mut<'a>(ptr: usize) -> &'a mut T

Mutably dereferences the given pointer. Read more
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unsafe fn drop(ptr: usize)

Drops the object pointed to by the given pointer. Read more
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impl<T> Same for T

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type Output = T

Should always be Self
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impl<SS, SP> SupersetOf<SS> for SP
where SS: SubsetOf<SP>,

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fn to_subset(&self) -> Option<SS>

The inverse inclusion map: attempts to construct self from the equivalent element of its superset. Read more
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fn is_in_subset(&self) -> bool

Checks if self is actually part of its subset T (and can be converted to it).
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fn to_subset_unchecked(&self) -> SS

Use with care! Same as self.to_subset but without any property checks. Always succeeds.
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fn from_subset(element: &SS) -> SP

The inclusion map: converts self to the equivalent element of its superset.
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impl<T> ToOwned for T
where T: Clone,

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type Owned = T

The resulting type after obtaining ownership.
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fn to_owned(&self) -> T

Creates owned data from borrowed data, usually by cloning. Read more
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fn clone_into(&self, target: &mut T)

Uses borrowed data to replace owned data, usually by cloning. Read more
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impl<T, U> TryFrom<U> for T
where U: Into<T>,

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type Error = Infallible

The type returned in the event of a conversion error.
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fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>

Performs the conversion.
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impl<T, U> TryInto<U> for T
where U: TryFrom<T>,

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type Error = <U as TryFrom<T>>::Error

The type returned in the event of a conversion error.
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fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>

Performs the conversion.
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impl<T> TypeData for T
where T: 'static + Send + Sync + Clone,

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fn clone_type_data(&self) -> Box<dyn TypeData>

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impl<T> Upcast<T> for T

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fn upcast(&self) -> Option<&T>

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impl<V, T> VZip<V> for T
where V: MultiLane<T>,

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fn vzip(self) -> V

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impl<T> WithSubscriber for T

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fn with_subscriber<S>(self, subscriber: S) -> WithDispatch<Self>
where S: Into<Dispatch>,

Attaches the provided Subscriber to this type, returning a WithDispatch wrapper. Read more
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fn with_current_subscriber(self) -> WithDispatch<Self>

Attaches the current default Subscriber to this type, returning a WithDispatch wrapper. Read more
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impl<T> ErasedDestructor for T
where T: 'static,

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impl<T> MaybeSendSync for T

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impl<T> SerializableAny for T
where T: 'static + Any + Clone + for<'a> Send + Sync,

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impl<T> Settings for T
where T: 'static + Send + Sync,

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impl<T> WasmNotSend for T
where T: Send,

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impl<T> WasmNotSync for T
where T: Sync,