Trait skelly::ik::IkSolver

pub trait IkSolver<T: Scalar> {
    fn new(error: T) -> Self;
    fn solve_step<D>(
        &mut self, 
        skelly: &Skelly<T, D>, 
        posture: &mut Posture<T>
    ) -> StepResult<T>;
}

Trait for ik solvers. Using this common interface user may replace implementation easily.

Required methods

fn new(error: T) -> Self

Returns new solver with maximum tolerable error.

fn solve_step<D>(
    &mut self,
    skelly: &Skelly<T, D>,
    posture: &mut Posture<T>
) -> StepResult<T>

Performs one step toward solution.

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Implementors

impl<T> IkSolver<T> for RotorSolver<T> where
    T: RealField, 

fn new(error: T) -> Self

fn solve_step<D>(
    &mut self,
    skelly: &Skelly<T, D>,
    posture: &mut Posture<T>
) -> StepResult<T>

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