Improving basic examples

Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "rs-opw-kinematics"
-version = "1.3.3"
+version = "1.3.4"
 edition = "2021"
 authors = ["Bourumir Wyngs <bourumir.wyngs@gmail.com>"]
 description = "Inverse and forward kinematics for 6 axis robots with a parallel base and spherical wrist."
@@ -19,7 +19,7 @@ maintenance = { status = "actively-developed" }
 nalgebra = ">=0.32.1, <=0.33.2"# All versions in the range confirmed to work
 
 # Others are only needed to read YAML or convert from URDF
-yaml-rust2 = { version = "0.8.0", optional = true }
+yaml-rust2 = { version = ">=0.8.0, <=0.9.0", optional = true }
 sxd-document = { version = "0.3", optional = true }
 regex = { version = "1.10.4", optional = true }
 clap = { version = "4.5.4", features = ["derive"], optional = true }
@@ -29,7 +29,7 @@ default = ["allow_filesystem"]
 allow_filesystem = ["yaml-rust2", "sxd-document", "regex", "clap"]
 
 # To disable filesystem:
-#rs-opw-kinematics = { version = "1.3.3", default-features = false }
+#rs-opw-kinematics = { version = "1.3.4", default-features = false }
 
 [dev-dependencies]
 rand = "0.8.5"

examples/constraints.rs

@@ -1,25 +1,40 @@
-use std::f64::consts::PI;
+use rs_opw_kinematics::constraints::{Constraints, BY_CONSTRAINS, BY_PREV};
 use rs_opw_kinematics::kinematic_traits::{Joints, Kinematics, Pose, CONSTRAINT_CENTERED};
 use rs_opw_kinematics::kinematics_impl::OPWKinematics;
 use rs_opw_kinematics::parameters::opw_kinematics::Parameters;
-use rs_opw_kinematics::utils::{dump_solutions};
-use rs_opw_kinematics::constraints::{BY_CONSTRAINS, BY_PREV, Constraints};
+use rs_opw_kinematics::utils::dump_solutions;
+use std::f64::consts::PI;
 
 fn main() {
+    // Create robot specifying parameters. This is ABB IRB 4600 industrial arm:
     let robot = OPWKinematics::new_with_constraints(
-        Parameters::irb2400_10(), Constraints::new(
+        Parameters {
+            a1: 0.175,
+            a2: -0.175,
+            b: 0.000,
+            c1: 0.495,
+            c2: 0.900,
+            c3: 0.960,
+            c4: 0.135,
+            offsets: [0.0, 0.0, -180.0_f64.to_radians(), 0.0, 0.0, 0.0],
+            sign_corrections: [1; 6],
+        },
+        Constraints::new(
             [-0.1, 0.0, 0.0, 0.0, -PI, -PI],
             [PI, PI, 2.0 * PI, PI, PI, PI],
             BY_PREV,
-        ));
+        ),
+    );
 
     let joints: Joints = [0.0, 0.1, 0.2, 0.3, 0.0, 0.5]; // Joints are alias of [f64; 6]
     let when_continuing_from_j6_0: [f64; 6] = [0.0, 0.11, 0.22, 0.8, 0.1, 0.0];
 
-    let pose: Pose = robot.forward(&joints); // Pose is alias of nalgebra::Isometry3<f64>    
+    let pose: Pose = robot.forward(&joints); // Pose is alias of nalgebra::Isometry3<f64>
 
-    println!("If we do not have the previous pose yet, we can now ask to prever the pose \
-    closer to the center of constraints.");
+    println!(
+        "If we do not have the previous pose yet, we can now ask to prever the pose \
+    closer to the center of constraints."
+    );
     let solutions = robot.inverse_continuing(&pose, &CONSTRAINT_CENTERED);
     dump_solutions(&solutions);
 
@@ -28,12 +43,14 @@ fn main() {
     dump_solutions(&solutions);
 
     let robot = OPWKinematics::new_with_constraints(
-        Parameters::irb2400_10(), Constraints::new(
+        Parameters::irb2400_10(),
+        Constraints::new(
             [-0.1, 0.0, 0.0, 0.0, -PI, -PI],
             [PI, PI, 2.0 * PI, PI, PI, PI],
             BY_CONSTRAINS,
-        ));
+        ),
+    );
     println!("With constraints, sorted by proximity to the center of constraints");
     let solutions = robot.inverse_continuing(&pose, &when_continuing_from_j6_0);
     dump_solutions(&solutions);
-}
+}

examples/basic.rs → examples/minimal_example.rs

@@ -4,8 +4,21 @@ use rs_opw_kinematics::parameters::opw_kinematics::Parameters;
 use rs_opw_kinematics::utils::{dump_joints, dump_solutions};
 
 fn main() {
-    let robot = OPWKinematics::new(Parameters::irb2400_10());
-    let joints: Joints = [0.0, 0.1, 0.2, 0.3, 0.0, 0.5]; // Joints are alias of [f64; 6]
+    // Create robot specifying parameters. This is ABB IRB 4600 industrial arm:
+    let robot = OPWKinematics::new(Parameters {
+        a1: 0.175,
+        a2: -0.175,
+        b: 0.000,
+        c1: 0.495,
+        c2: 0.900,
+        c3: 0.960,
+        c4: 0.135,
+        offsets: [0.0, 0.0, -180.0_f64.to_radians(), 0.0, 0.0, 0.0],
+        sign_corrections: [1; 6]
+    });
+
+    // Joints are alias of [f64; 6], values in radians    
+    let joints: Joints = [0.0, 0.1, 0.2, 0.3, 0.0, 0.5]; 
     println!("Initial joints with singularity J5 = 0: ");
     dump_joints(&joints);
 
@@ -25,8 +38,10 @@ fn main() {
     let solutions = robot.inverse_continuing(&pose, &when_continuing_from_j6_0);
     dump_solutions(&solutions);
 
-    println!("If we do not have the previous position, we can assume we want J4, J6 close to 0.0 \
-    The solution appears and the needed rotation is now equally distributed between J4 and J6.");
+    println!(
+        "If we do not have the previous position, we can assume we want J4, J6 close to 0.0 \
+    The solution appears and the needed rotation is now equally distributed between J4 and J6."
+    );
     let solutions = robot.inverse_continuing(&pose, &JOINTS_AT_ZERO);
     dump_solutions(&solutions);
-}
+}