Trait IkSolver

Source

pub trait IkSolver<const N: usize, F: KinScalar = f32>: FKChain<N, F> {
    type IkConfig: Default + Clone + Send + Sync + 'static;

    // Required method
    fn ik_with_config(
        &self,
        target: F::AAffine3,
        config: &Self::IkConfig,
    ) -> Result<IkOutcome<N, F>, Self::Error>;

    // Provided method
    fn ik(&self, target: F::AAffine3) -> Result<IkOutcome<N, F>, Self::Error> { ... }
}