Rust Guide

The Rust crate is dynibo's native interface. It exposes strongly typed link IDs, instance-local workspaces, caller-owned output buffers, and detailed Error variants.

cargo add dynibo

Typical setup

use dynibo::Robot;

fn main() -> dynibo::Result<()> {
    let mut robot = Robot::from_urdf("robot.urdf")?;
    let target = robot.link_id("tool")?;
    let q = vec![0.0; robot.joint_count()];

    let pose = robot.forward_kinematics(&q, target)?;
    println!("{}", pose.translation.vector.transpose());
    Ok(())
}

Allocation and concurrency

Create output buffers once when repeatedly calculating matrices or generalized forces. A Workspace is model-scoped and mutable; use one per concurrent calculation. A LinkId is also model-scoped and cannot be mixed with an independently loaded model.

Types and errors

Frame is nalgebra's three-dimensional isometry. Twist and Wrench expose named angular/linear and torque/force components. Fallible calls return dynibo::Result<T>; Error::category() provides a stable coarse category while the error variant preserves detail.

Open the Rust API reference