Struct AssemblySolution 

pub struct AssemblySolution {
    pub poses: Vec<BodyPose>,
    pub mate_residuals: Vec<MateResidualReport>,
    pub max_residual: f64,
    pub iterations: usize,
    pub strategy: String,
    pub steps: Vec<SolveStepReport>,
    pub residual_rows_evaluated: usize,
    pub dof: usize,
    pub rank: usize,
    pub redundant: usize,
    pub status: String,
    pub body_freedom: Vec<BodyFreedom>,
}

Fields

poses: Vec<BodyPose>

mate_residuals: Vec<MateResidualReport>

Per-mate worst residual, in input mate order.

max_residual: f64

iterations: usize

Accepted Levenberg-Marquardt steps (summed over sub-solves).

strategy: String

Strategy actually used: "monolithic", "decomposed", or "monolithic_fallback" (decomposition attempted, full monolithic rerun took over).

steps: Vec<SolveStepReport>

Per-step diagnostics in execution order: which bodies/clusters were solved by which method (§7.5–7.6).

residual_rows_evaluated: usize

Total scalar residual rows evaluated while solving (step trials plus finite-difference Jacobian columns); the work measure behind the decomposition performance guard.

dof: usize

Remaining degrees of freedom: 6·movable − rank.

rank: usize

Numerical rank of the mate Jacobian at the solution.

redundant: usize

Redundant (but consistent) constraint rows: effective rows − rank.

status: String

"well", "under", or "over" (over = redundant rows exist; the solution is still exact unless the solve returned Err).

body_freedom: Vec<BodyFreedom>

Per movable body, the freedom the mates leave it at the solution (the Jacobian’s null space restricted to that body’s six columns). Empty when diagnostics were off or the assembly is too large to analyse.

Trait Implementations

impl Clone for AssemblySolution

fn clone(&self) -> Self

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for AssemblySolution

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl<'de> Deserialize<'de> for AssemblySolution

fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl Serialize for AssemblySolution

fn serialize<__S>(&self, __serializer: __S) -> Result<__S::Ok, __S::Error>

where __S: Serializer,

Serialize this value into the given Serde serializer.