Module utils

Helper functions

Functions

as_radians

Allows to specify joint values in degrees (converts to radians)

assert_pose_eq

dump_joints

Print joint values, converting radianst to degrees.

dump_pose

dump_solutions

Print joint values for all solutions, converting radianst to degrees.

dump_solutions_degrees

joints

Convert array of f32’s in degrees to Joints that are array of f64’s in radians

joints_to_vector6

Converts Joints ([f64; 6]) to a Vector6<f64>

to_degrees

Convert joints that are array of f64’s in radians to array of f32’s in degrees

transition_costs

Calculates the transition cost between two sets of joint positions, weighted by given coefficients (rotating heavy base joints is more expensive). This function returns maximum rotation

vector6_to_joints

Converts nalgebra::Vector6<f64> to Joints ([f64; 6])