k/lib.rs
1/*
2 Copyright 2017 Takashi Ogura
3
4 Licensed under the Apache License, Version 2.0 (the "License");
5 you may not use this file except in compliance with the License.
6 You may obtain a copy of the License at
7
8 http://www.apache.org/licenses/LICENSE-2.0
9
10 Unless required by applicable law or agreed to in writing, software
11 distributed under the License is distributed on an "AS IS" BASIS,
12 WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 See the License for the specific language governing permissions and
14 limitations under the License.
15*/
16
17#![doc = include_str!("../README.md")]
18#![allow(clippy::needless_doctest_main)]
19
20mod chain;
21mod errors;
22mod funcs;
23mod ik;
24
25pub mod iterator;
26pub mod joint;
27pub mod link;
28pub mod node;
29pub mod prelude;
30pub mod urdf;
31
32pub use crate::{
33 chain::*,
34 errors::*,
35 funcs::*,
36 ik::*,
37 joint::{Joint, JointType},
38 link::Link,
39 node::{Node, NodeBuilder},
40};
41
42// re-export from nalgebra
43// include Real for backwards compatibility purposes
44// (na::Real used to be the name, so we used to re-export k::Real)
45#[doc(no_inline)]
46pub use nalgebra::{
47 Isometry3, RealField as Real, RealField, Translation3, UnitQuaternion, Vector3,
48};
49// export everything
50pub use nalgebra;
51pub use simba;
52#[doc(no_inline)]
53pub use simba::scalar::{SubsetOf, SupersetOf};