pub fn new(path: &Path) -> Kinematics {
        let mut buf = String::new();
        let mut f = File::open(path).expect("Unable to open robot configuration");
        f.read_to_string(&mut buf)
            .expect("Unable to read robot configuration");

        let rc: RobotConfiguration =
            serde_json::from_str(&buf).expect("Unable to parse robot configuration");

        Kinematics {
            cables: rc
                .cables
                .iter()
                .map(|&[[px, py, pz], [ax, ay, az], [ex, ey, ez]]| {
                    Cable::new(
                        Vector3::new(px, py, pz),
                        Vector3::new(ax, ay, az),
                        Vector3::new(ex, ey, ez),
                    )
                })
                .collect::<Vec<_>>(),
            stylus_size: rc.stylus_dims,
        }
    }
/// Create a new kinematics solver for the robot described in the configuration file
/// provided. The configuration file is a json object that describes the robot in the
/// starting configuration and has two keys: 
/// "cables": an array of triples of 3D vectors. 
///     Each triple represent one isolated cable system by its frame anchor point, 
///     effector anchor point, and pulley vector (the pulley vector magnitude describes the
///     pulley radius and the axis defines the axis of rotation).
/// "stylus_dims": A 3D vector describing the size of the effector for visualization purposes.

Create a new kinematics solver for the robot described in the configuration file
provided. The configuration file is a json object that describes the robot in the
starting configuration and has two keys:
"cables": an array of triples of 3D vectors.
Each triple represent one isolated cable system by its frame anchor point,
effector anchor point, and pulley vector (the pulley vector magnitude describes the
pulley radius and the axis defines the axis of rotation).
"stylus_dims": A 3D vector describing the size of the effector for visualization purposes.
Create a new kinematics solver for the robot described in the configuration file provided . The configuration file is a json object that describes the robot in the starting configuration and has two keys : " cables " : an array of triples of 3D vectors . Each triple represent one isolated cable system by its frame anchor point effector anchor point and pulley vector ( the pulley vector magnitude describes the pulley radius and the axis defines the axis of rotation ) . " stylus_dims " : A 3D vector describing the size of the effector for visualization purposes .
pub fn new(path: &Path) -> Kinematics {
        let mut buf = String::new();
        let mut f = File::open(path).expect("Unable to open robot configuration");
        f.read_to_string(&mut buf)
            .expect("Unable to read robot configuration");
        let rc: RobotConfiguration =
            serde_json::from_str(&buf).expect("Unable to parse robot configuration");
        Kinematics {
            cables: rc
                .cables
                .iter()
                .map(|&[[px, py, pz], [ax, ay, az], [ex, ey, ez]]| {
                    Cable::new(
                        Vector3::new(px, py, pz),
                        Vector3::new(ax, ay, az),
                        Vector3::new(ex, ey, ez),
                    )
                })
                .collect::<Vec<_>>(),
            stylus_size: rc.stylus_dims,
        }
    }
pub fn new ( path : & Path ) -> Kinematics { let mut buf = String :: new ( ) ; let mut f = File :: open ( path ) . expect ( " " ) ; f . read_to_string ( & mut buf ) . expect ( " " ) ; let rc : RobotConfiguration = serde_json :: from_str ( & buf ) . expect ( " " ) ; Kinematics { cables : rc . cables . iter ( ) . map ( | & [ [ px , py , pz ] , [ ax , ay , az ] , [ ex , ey , ez ] ] | { Cable :: new ( Vector3 :: new ( px , py , pz ) , Vector3 :: new ( ax , ay , az ) , Vector3 :: new ( ex , ey , ez ) , ) } ) . collect :: < Vec < _ > > ( ) , stylus_size : rc . stylus_dims , } }
Create a new kinematics solver for the robot described in the configuration file
provided.
Create a new kinematics solver for the robot described in the configuration file provided .
path
&Path
path
&Path