Struct CuForwardKinematicsParams 

pub struct CuForwardKinematicsParams<const N: usize> {
    pub chain: Option<CuChainSpec<N>>,
    pub tool_offset: Option<Transform3D<f64>>,
}

Node config of CuForwardKinematicsTask.

config: {"chain": "igus_rebel", "tool_offset": /* optional Transform3D */}

Fields

chain: Option<CuChainSpec<N>>

Required robot chain: a preset name ("igus_rebel") or an inline chain.

tool_offset: Option<Transform3D<f64>>

Optional flange-to-tool transform replacing the chain’s own tool offset.

Implementations

impl<const N: usize> CuForwardKinematicsParams<N>

pub fn resolve_chain(&self) -> CuResult<CuKinematicChain<N>>

Resolves the configured chain (with tool_offset applied) and validates it.

pub fn validate(&self) -> CuResult<()>

Checks that the chain is present and valid along with every other parameter.

Trait Implementations

impl<const N: usize> Clone for CuForwardKinematicsParams<N>

fn clone(&self) -> CuForwardKinematicsParams<N>

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl<const N: usize> Debug for CuForwardKinematicsParams<N>

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

Formats the value using the given formatter.

impl<const N: usize> Default for CuForwardKinematicsParams<N>

fn default() -> Self

Returns the “default value” for a type.

impl<'de, const N: usize> Deserialize<'de> for CuForwardKinematicsParams<N>

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

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl<const N: usize> Serialize for CuForwardKinematicsParams<N>

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

where __S: Serializer,

Serialize this value into the given Serde serializer.

impl<const N: usize> TypePath for CuForwardKinematicsParams<N>

fn type_path() -> &'static str

fn short_type_path() -> &'static str

fn type_ident() -> Option<&'static str>

fn crate_name() -> Option<&'static str>

fn module_path() -> Option<&'static str>