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,
}

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).

Trait Implementations

impl Clone for AssemblySolution

fn clone(&self) -> AssemblySolution

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.