Type Alias IkSolutions 

pub type IkSolutions<const N: usize, F> = SmallVec<[SRobotQ<N, F>; 8]>;

Inverse-kinematics solution set. Stays inline on the stack for the common case of ≤8 solutions (analytic branches) and spills to the heap when a discrete/enumerated solve produces more.

Aliased Type

pub struct IkSolutions<const N: usize, F> { /* private fields */ }