Struct NLinkArm3D 

pub struct NLinkArm3D { /* private fields */ }

A 3D N-link arm with alternating yaw/pitch joints.

Implementations

impl NLinkArm3D

pub fn new(link_lengths: Vec<f64>) -> Self

Creates a new arm with all joint angles initialized to zero.

pub fn with_angles(link_lengths: Vec<f64>, joint_angles: Vec<f64>) -> Self

Creates a new arm with specified joint angles.

Panics

Panics if link_lengths and joint_angles have different lengths.

pub fn forward_kinematics(&self) -> Vec<Vector3<f64>>

Computes forward kinematics, returning positions of base, all joints, and the end effector (n+1 points total).

For each joint i:

• If i is even: rotate around Z by joint_angles\[i\] (yaw)
• If i is odd: rotate around Y by joint_angles\[i\] (pitch)

Then advance by link_lengths\[i\] along the current local X direction.

pub fn end_effector(&self) -> Vector3<f64>

Returns the end-effector position.

pub fn jacobian(&self) -> Matrix3xX<f64>

Computes the 3-by-n numerical Jacobian via finite differences.

Each column j is (end_effector(q + eps*e_j) - end_effector(q - eps*e_j)) / (2*eps).

pub fn inverse_kinematics( &mut self, target: Vector3<f64>, max_iter: usize, tolerance: f64, ) -> bool

Solves inverse kinematics using damped least squares (Levenberg-Marquardt).

dq = J^T * (J * J^T + lambda * I)^{-1} * error

Returns true if the end effector converged to within tolerance of the target.

pub fn joint_angles(&self) -> &[f64]

Returns a reference to the current joint angles.

pub fn link_lengths(&self) -> &[f64]

Returns a reference to the link lengths.

Trait Implementations

impl Clone for NLinkArm3D

fn clone(&self) -> NLinkArm3D

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for NLinkArm3D

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

Formats the value using the given formatter.