rs_opw_kinematics::urdf

Struct URDFParameters

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pub struct URDFParameters {
    pub a1: f64,
    pub a2: f64,
    pub b: f64,
    pub c1: f64,
    pub c2: f64,
    pub c3: f64,
    pub c4: f64,
    pub sign_corrections: [i8; 6],
    pub from: Joints,
    pub to: Joints,
    pub dof: i8,
}
Expand description

OPW parameters as extrancted from URDF file, including constraints (joint offsets are not directly defined in URDF). This structure can provide robot parameters, constraints and sign corrections, or alterntively can be converted to the robot directly.

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§a1: f64§a2: f64§b: f64§c1: f64§c2: f64§c3: f64§c4: f64§sign_corrections: [i8; 6]§from: Joints§to: Joints§dof: i8

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impl URDFParameters

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pub fn to_robot(self, sorting_weight: f64, offsets: &Joints) -> OPWKinematics

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pub fn constraints(self, sorting_weight: f64) -> Constraints

Return extracted constraints.

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pub fn parameters(self, offsets: &Joints) -> Parameters

Return extracted parameters

Trait Implementations§

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impl Clone for URDFParameters

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fn clone(&self) -> URDFParameters

Returns a copy of the value. Read more
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fn clone_from(&mut self, source: &Self)

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

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

Formats the value using the given formatter. Read more
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impl Default for URDFParameters

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fn default() -> URDFParameters

Returns the “default value” for a type. Read more
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impl Copy for URDFParameters

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