Crate repose_kinematics 

Deterministic, allocation-free serial robot kinematics (FK, Jacobian, IK, Servo) for copper-rs.

Modules

serde_arrays

Serde helpers for const-generic fixed-size arrays.

Structs

CuDiffIkParams

Parameters of velocity/twist differential inverse kinematics (Jacobian servoing).

CuForwardKinematicsParams

Node config of CuForwardKinematicsTask.

CuForwardKinematicsTask

Stateless CuTask computing end-effector Transform3D<f64> from joint angles.

CuIkParams

Parameters of the inverse kinematics solver selected by solver.

CuIkSolutionPayload

Inverse kinematics solution payload carrying solved joint angles and convergence status.

CuInverseKinematicsParams

Node config of CuInverseKinematicsTask.

CuInverseKinematicsTask

Stateless CuTask solving Damped Least-Squares inverse kinematics from a target pose and seed joints.

CuJointMetric

Physical scaling used to compare angular and linear coordinates without mixing units.

CuJointPositionsPayload

Fixed-DOF joint position payload (CuMsgPayload-compliant).

CuJointResolution

Per-joint sampling resolution for discrete collision checks.

CuJointSpec

Static kinematic specification of a single joint following URDF conventions.

CuJointStatePayload

Measured joint state: the only state payload a bridge has to produce.

CuJointVelocitiesPayload

Fixed-DOF joint velocity command/state payload (CuMsgPayload-compliant).

CuKinematicChain

Compile-time sized $N$-DOF serial robot kinematic chain.

CuServoParams

Node config of CuServoTask.

CuServoTask

Real-time Jacobian velocity/twist servoing CuTask with singularity and joint-limit damping.

CuTwist6D

6D spatial velocity (linear + angular twist) payload with explicit frame semantics.

Enums

CuChainSpec

Source of a robot chain in RON: a preset name or an inline chain.

CuDiffIkStatus

Status reported by a single differential IK velocity solve.

CuIkSolver

Which inverse-kinematics solver CuIkParams selects.

CuIkStatus

Outcome of a bounded inverse kinematics solve.

CuJointAcceleration

A joint acceleration carries angular (rad/s²) or linear (m/s²) acceleration units.

CuJointAxis

Principal or arbitrary unit axis of actuation in the joint’s local frame.

CuJointJerk

A joint jerk carries angular (rad/s³) or linear (m/s³) jerk units.

CuJointLimits

Position and velocity bounds, with units determined by joint type.

CuJointPosition

A joint coordinate carries the physical unit of its joint.

CuJointType

Actuation mechanism of a single joint in a serial chain.

CuJointVelocity

A joint velocity carries angular or linear velocity units.

CuRobotPreset

Named robot chain presets, selected in RON by their snake_case name.

CuRobotStatus

Health reported by the robot or simulator bridge.

CuTwistFrame

Coordinate frame in which a 6D task-space twist command is expressed.

Functions

igus_rebel_chain

Returns the 6-DOF kinematic chain for the igus ReBeL cobot.