Struct Base

pub struct Base {
    pub robot: Arc<dyn Kinematics>,
    pub base: Isometry3<f64>,
}

Defines the fixed base that can hold the robot. The base moves the robot to its installed location, providing also rotation if required (physical robots work well and may be installed upside down, or at some angle like 45 degrees). Base itself fully implements the Kinematics, providing both inverse and forward kinematics for the robot on a base.

Fields

robot: Arc<dyn Kinematics>

base: Isometry3<f64>

Transformation from the world origin to the robots base.

Trait Implementations

impl Clone for Base

fn clone(&self) -> Base

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Kinematics for Base

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_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 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 forward(&self, joints: &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 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.

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

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

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.