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: i32,
}

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: i32

How many times the joints are tried to be moved

Methods

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

fn new(
    jacobian_move_epsilon: T,
    move_epsilon: T,
    allowable_target_distance: T,
    num_max_try: i32
) -> JacobianIKSolver<T>

Trait Implementations

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

fn fmt(&self, __arg_0: &mut Formatter) -> Result

Formats the value using the given formatter.

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: KinematicChain<T>, 

Move the end transform of the arm to target_pose