Struct k::JacobianIKSolver

pub struct JacobianIKSolver<T: Real> {
    pub jacobian_move_epsilon: T,
    pub move_epsilon: T,
    pub allowable_target_distance: T,
    pub num_max_try: usize,
}

Inverse Kinematics Solver using Jacobian matrix

Fields

jacobian_move_epsilon: T

Calculate jacobian matrix with this length in each joint

move_epsilon: T

Move by this length in one loop

allowable_target_distance: T

If the distance is smaller than this value, it is reached.

num_max_try: usize

How many times the joints are tried to be moved

Methods

impl<T> JacobianIKSolver<T> where     T: Real,

pub fn new(     jacobian_move_epsilon: T,     move_epsilon: T,     allowable_target_distance: T,     num_max_try: usize ) -> JacobianIKSolver<T>

Trait Implementations

impl<T: Debug + Real> Debug for JacobianIKSolver<T>

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

Formats the value using the given formatter.

impl<T: Clone + Real> Clone for JacobianIKSolver<T>

fn clone(&self) -> JacobianIKSolver<T>

Returns a copy of the value.

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

Performs copy-assignment from source.

impl<T> InverseKinematicsSolver<T> for JacobianIKSolver<T> where     T: Real,

fn solve<K>(     &self,     arm: &mut K,     target_pose: &Isometry3<T> ) -> Result<T, IKError> where     K: EndTransform<T> + HasJoints<T>,

Move the end transform of the arm to target_pose