Struct Orbita3dKinematicsModel

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,
}

Kinematics model for Orbita3d

Fields

alpha: f64

gamma_min: f64

offset: f64

beta: f64

gamma_max: f64

passiv_arms_direct: bool

Implementations

impl Orbita3dKinematicsModel

pub fn jacobian_inverse( &self, rot: Rotation3<f64>, thetas: [f64; 3], ) -> Matrix3<f64>

Compute the inverse jacobian

Compute the inverse jacobian from the platform orientation and the motor angles.

Arguments

• rot - The platform orientation as a rotation matrix.
• thetas - The motor angles as a 3-element array.

Returns

• The inverse jacobian as a 3x3 matrix.

pub fn jacobian(&self, rot: Rotation3<f64>, thetas: [f64; 3]) -> Matrix3<f64>

Compute the jacobian

The jacobian is computed by inverting the inverse jacobian.

Arguments

• rot - The platform orientation as a rotation matrix.
• thetas - The motor angles as a 3-element array.

Returns

• The jacobian as a 3x3 matrix.

impl Orbita3dKinematicsModel

pub fn compute_forward_kinematics(&self, thetas: [f64; 3]) -> Rotation3<f64>

Compute the position forward kinematics

Compute the output 3d orientation given the 3 angles of the motors (in radians)

Arguments

• thetas - the angles of the motors (in radians) without the 120° offsets

Returns

• the 3d orientation of the platform

pub fn compute_forward_kinematics_rpy_multiturn( &self, thetas: [f64; 3], ) -> Result<[f64; 3], InverseSolutionErrorKind>

impl Orbita3dKinematicsModel

pub fn compute_inverse_kinematics( &self, rot: Rotation3<f64>, ) -> Result<[f64; 3], InverseSolutionErrorKind>

Compute the inverse kinematics of the Orbita3d platform.

Compute the motor angles from the platform orientation.

Arguments

• rot - The platform orientation as a rotation matrix.

Returns

• The motor angles as a 3-element array, without the 120° offsets.

pub fn compute_inverse_kinematics_rpy_multiturn( &self, target_rpy: [f64; 3], ) -> Result<[f64; 3], InverseSolutionErrorKind>

pub fn check_gammas(&self, thetas: Vector3<f64>) -> Result<(), Box<dyn Error>>

pub fn compute_valid_solution( &self, target_rpy: [f64; 3], thetas: [f64; 3], ) -> Result<[f64; 3], InverseSolutionErrorKind>

impl Orbita3dKinematicsModel

pub fn compute_output_torque( &self, thetas: [f64; 3], input_torque: [f64; 3], ) -> Vector3<f64>

Compute the forward static torque

Compute the output static torque (platform oriented torque) from the input torque (motors torque) and the motor angles.

Arguments

• thetas - The motor angles as a 3-element array.
• input_torque - The input torque as a 3-element array.

Returns

• The output torque as a 3d pseudo vector.

pub fn compute_input_torque( &self, thetas: [f64; 3], output_torque: Vector3<f64>, ) -> [f64; 3]

Compute the inverse static torque

Compute the input torque (motors torque) from the output torque (platform oriented torque) and the motor angles.

Arguments

• thetas - The motor angles as a 3-element array.
• output_torque - The output torque as a 3d pseudo-vector.

Returns

• The input torque as a 3-element array.

impl Orbita3dKinematicsModel

pub fn compute_output_velocity( &self, thetas: [f64; 3], input_velocity: [f64; 3], ) -> Vector3<f64>

Compute the forward velocity

Compute the output velocity (platform oriented velocity) from the input velocity (motors velocity) and the motor angles.

Arguments

• thetas - The motor angles as a 3-element array.
• input_velocity - The input velocity as a 3-element array (motors velocity).

Returns

• The output velocity as a 3d rotation. This rotation is a axis-angle rotation vector representing the velocity pseudo vector.

pub fn compute_input_velocity( &self, thetas: [f64; 3], output_velocity: Vector3<f64>, ) -> [f64; 3]

Compute the inverse velocity

Compute the input velocity (motors velocity) from the output velocity (platform oriented velocity) and the motor angles.

Arguments

• thetas - The motor angles as a 3-element array.
• output_velocity - The output velocity as a 3d rotation axis-angle velocity pseudo-vector.

Returns

• The input velocity as a 3-element array.

Trait Implementations

impl Clone for Orbita3dKinematicsModel

fn clone(&self) -> Orbita3dKinematicsModel

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for Orbita3dKinematicsModel

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

Formats the value using the given formatter.

impl Default for Orbita3dKinematicsModel

fn default() -> Self

Creates a new Orbita3dKinematicsModel with default values corresponding to Reachy’s neck.

impl<'de> Deserialize<'de> for Orbita3dKinematicsModel

fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl Serialize for Orbita3dKinematicsModel

fn serialize<__S>(&self, __serializer: __S) -> Result<__S::Ok, __S::Error>

where __S: Serializer,

Serialize this value into the given Serde serializer.

impl Copy for Orbita3dKinematicsModel