Struct Tool

pub struct Tool {
    pub robot: Arc<dyn Kinematics>,
    pub tool: Isometry3<f64>,
}

Defines the fixed tool that can be attached to the last joint (joint 6) of robot. The tool moves with the robot, providing additional translation and, if needed, rotation. The tool itself fully implements the Kinematics, providing both inverse and forward kinematics for the robot with a tool (with “pose” being assumed as the position and rotation of the tip of the tool (tool center point).

Fields

robot: Arc<dyn Kinematics>

tool: Isometry3<f64>

Transformation from the robot’s tip joint to the tool’s TCP.

Trait Implementations

impl Clone for Tool

fn clone(&self) -> Tool

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Kinematics for Tool

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

Tool does not add transform to any joints. J6 stays where it was, and it is also the base transform for the tool. Tool’s tip is the “robot pose”, but this point does not have the object to render or check for collisions. Hence the pose of J6 is not longer TCP on inverse kinematics.

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

There is nothing that the tool would add to singularities

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

Find inverse kinematics (joint position) for this pose This function is faster but does not handle the singularity J5 = 0 well. All returned solutions are cross-checked with forward kinematics and valid.

fn inverse_5dof(&self, tcp: &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, tcp: &Pose, previous: &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 inverse_continuing(&self, tcp: &Pose, previous: &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.

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.