@morningfrog/vvcm-rs

WebAssembly bindings for vvcm-rs, a VVCM forward-kinematics and simulation library for multi-robot transporting systems with a deformable sheet.

Installation

npm install @morningfrog/vvcm-rs

The unscoped mirror is also published as vvcm-rs:

npm install vvcm-rs

Usage

import { VvcmFk } from "@morningfrog/vvcm-rs";

const formation = [
  [213.7, 122.7],
  [804.6, 37.2],
  [904.0, 550.0],
  [439.3, 715.9],
] as const;

const sheet = [
  [-316.1, -421.9],
  [803.4, -384.1],
  [746.1, 712.8],
  [-367.3, 664.2],
] as const;

const fk = new VvcmFk(4, 1000, sheet);
const solutions = fk.updateStableSolutions(formation);

for (const solution of solutions.solutions.filter((item) => item.stable)) {
  console.log(solution.po, solution.vo, solution.tautCables, solution.lambdaValues);
}

Point2Input values can be [x, y] tuples or { x, y } objects. Point3Input values can be [x, y, z] tuples or { x, y, z } objects. For each FK solution, lambdaValues[i] corresponds to tautCables[i]; slack cables are omitted.

TypeScript

The package ships a hand-written index.d.ts file with the stable public API, including VvcmFk, VvcmSimulation, VvcmManualSimulation, FkSolutionsOutput, and VvcmError.