orbita3d_c_api::kinematics

Struct Orbita3dKinematicsModel

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#[repr(C)]
pub struct Orbita3dKinematicsModel {
    pub alpha: f64,
    pub gamma_min: f64,
    pub offset: f64,
    pub beta: f64,
    pub gamma_max: f64,
    pub passiv_arms_direct: bool,
}
Expand description

Kinematics model for Orbita3d

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§alpha: f64§gamma_min: f64§offset: f64§beta: f64§gamma_max: f64§passiv_arms_direct: bool

Implementations§

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impl Orbita3dKinematicsModel

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#[no_mangle]
pub extern "C" fn create_orbita3d_kinematics_model( alpha: f64, gamma_min: f64, offset: f64, beta: f64, gamma_max: f64, passiv_arms_direct: bool, ) -> Self

Create a new Orbita3dKinematicsModel.

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#[no_mangle]
pub extern "C" fn orbita3d_kinematics_forward_position( &self, thetas: &[f64; 3], quat: &mut [f64; 4], ) -> i32

Compute the forward position kinematics.

§Arguments
  • thetas - The motor angles as a 3-element array.
  • quat - Holder for the platform orientation as a quaternion result.
§Returns
  • 0 if success, 1 if error.
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#[no_mangle]
pub extern "C" fn orbita3d_kinematics_forward_velocity( &self, thetas: &[f64; 3], thetas_velocity: &[f64; 3], output_velocity: &mut [f64; 3], ) -> i32

Compute the forward velocity.

§Arguments
  • thetas - The motor angles as a 3-element array.
  • thetas_velocity - The motor velocities as a 3-element array.
  • output_velocity - Holder for the platform orientation velocity as a velocity pseudo vector.
§Returns
  • 0 if success, 1 if error.
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#[no_mangle]
pub extern "C" fn orbita3d_kinematics_forward_torque( &self, thetas: &[f64; 3], thetas_torque: &[f64; 3], output_torque: &mut [f64; 3], ) -> i32

Compute the forward torque.

§Arguments
  • thetas - The motor angles as a 3-element array.
  • thetas_torque - The motor torques as a 3-element array.
  • output_torque - Holder for the platform orientation torque as a pseudo vector result.
§Returns
  • 0 if success, 1 if error.
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#[no_mangle]
pub extern "C" fn orbita3d_kinematics_inverse_position( &self, quat: &[f64; 4], thetas: &mut [f64; 3], ) -> i32

Compute the inverse position kinematics.

§Arguments
  • quat - The platform orientation as a quaternion.
  • thetas - Holder for the motor angles as a 3-element array result.
§Returns
  • 0 if success, 1 if no solution, 2 if invalid solution.
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#[no_mangle]
pub extern "C" fn orbita3d_kinematics_inverse_velocity( &self, thetas: &[f64; 3], output_velocity: &[f64; 3], thetas_velocity: &mut [f64; 3], ) -> i32

Compute the inverse velocity.

§Arguments
  • thetas - The motor angles as a 3-element array.
  • output_velocity - The platform orientation velocity as a velocity pseudo vector.
  • thetas_velocity - Holder for the motor velocities as a 3-element array result.
§Returns
  • 0 if success, 1 if error.
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#[no_mangle]
pub extern "C" fn orbita3d_kinematics_inverse_torque( &self, thetas: &[f64; 3], output_torque: &[f64; 3], thetas_torque: &mut [f64; 3], ) -> i32

Compute the inverse torque.

§Arguments
  • thetas - The motor angles as a 3-element array.
  • output_torque - The platform orientation torque as a pseudo vector.
  • thetas_torque - Holder for the motor torques as a 3-element array result.
§Returns
  • 0 if success, 1 if error.

Trait Implementations§

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impl Clone for Orbita3dKinematicsModel

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fn clone(&self) -> Orbita3dKinematicsModel

Returns a copy of the value. Read more
1.0.0 · Source§

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

Performs copy-assignment from source. Read more
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impl Debug for Orbita3dKinematicsModel

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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 Copy for Orbita3dKinematicsModel

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