rust_robotics_control::n_joint_arm_control

Struct NLinkArm

pub struct NLinkArm {
    pub link_lengths: Vec<f64>,
    pub joint_angles: Vec<f64>,
    pub points: Vec<[f64; 2]>,
    pub end_effector: [f64; 2],
    pub n_links: usize,
}

Expand description

A planar N-link arm with forward and inverse kinematics.

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§link_lengths: Vec<f64>

Length of each link

§joint_angles: Vec<f64>

Current joint angles [rad]

§points: Vec<[f64; 2]>

Computed joint positions (n_links + 1 points, including the base at origin)

§end_effector: [f64; 2]

End-effector position

§n_links: usize

Number of links

Implementations§

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impl NLinkArm

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

Creates a new N-link arm.

§Panics

Panics if link_lengths and joint_angles have different lengths.

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pub fn update_joints(&mut self, joint_angles: &[f64])

Updates joint angles and recomputes link positions.

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pub fn update_points(&mut self)

Recomputes all joint positions from current angles.

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pub fn workspace_radius(&self) -> f64

Total workspace radius (sum of all link lengths).

Trait Implementations§

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impl Clone for NLinkArm

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fn clone(&self) -> NLinkArm

Returns a duplicate of the value. Read more

1.0.0 (const: unstable) · Source§

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

Performs copy-assignment from source. Read more

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impl Debug for NLinkArm

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

Formats the value using the given formatter. Read more

Auto Trait Implementations§

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impl UnwindSafe for NLinkArm

Blanket Implementations§

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impl<T> Any for T
where T: 'static + ?Sized,

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fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more

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impl<T> Borrow<T> for T
where T: ?Sized,

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fn borrow(&self) -> &T

Immutably borrows from an owned value. Read more

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impl<T> BorrowMut<T> for T
where T: ?Sized,

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fn borrow_mut(&mut self) -> &mut T

Mutably borrows from an owned value. Read more

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impl<T> CloneToUninit for T
where T: Clone,

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unsafe fn clone_to_uninit(&self, dest: *mut u8)

🔬This is a nightly-only experimental API. (clone_to_uninit)

Performs copy-assignment from self to dest. Read more

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impl<T> From<T> for T

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fn from(t: T) -> T

Returns the argument unchanged.

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impl<T, U> Into for T
where U: From<T>,

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fn into(self) -> U

Calls U::from(self).

That is, this conversion is whatever the implementation of From<T> for U chooses to do.

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impl<T> IntoEither for T

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fn into_either(self, into_left: bool) -> Either<Self, Self>

Converts self into a Left variant of Either<Self, Self> if into_left is true. Converts self into a Right variant of Either<Self, Self> otherwise. Read more

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fn into_either_with<F>(self, into_left: F) -> Either<Self, Self>
where F: FnOnce(&Self) -> bool,

Converts self into a Left variant of Either<Self, Self> if into_left(&self) returns true. Converts self into a Right variant of Either<Self, Self> otherwise. Read more

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