Struct openrr_planner::RandomInitializeIkSolver

pub struct RandomInitializeIkSolver<T, I> where
    I: InverseKinematicsSolver<T>,
    T: RealField,  {
    pub solver: I,
    pub num_max_try: usize,
    // some fields omitted
}

Randomize initial joint angles before solving

Fields

solver: I

The IK solver to be used after set random joint angles

num_max_try: usize

The number to try to solve

Implementations

impl<T, I> RandomInitializeIkSolver<T, I> where
    T: RealField,
    I: InverseKinematicsSolver<T>, 

pub fn new(solver: I, num_max_try: usize) -> Self

Trait Implementations

impl<T: Debug, I: Debug> Debug for RandomInitializeIkSolver<T, I> where
    I: InverseKinematicsSolver<T>,
    T: RealField, 

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

Formats the value using the given formatter.

impl<T, I> InverseKinematicsSolver<T> for RandomInitializeIkSolver<T, I> where
    T: RealField + SubsetOf<f64>,
    I: InverseKinematicsSolver<T>, 

fn solve_with_constraints(
    &self,
    arm: &SerialChain<T>,
    target_pose: &Isometry3<T>,
    constraints: &Constraints
) -> Result<(), Error>

Move the end transform of the arm to target_pose with constraints

fn solve(
    &self,
    arm: &SerialChain<T>,
    target_pose: &Isometry<T, Unit<Quaternion<T>>, 3_usize>
) -> Result<(), Error>

Move the end transform of the arm to target_pose