pub struct CalibReport {
pub inertia: Vec<LinkInertia>,
pub friction: Vec<JointFriction>,
pub rms_before: f64,
pub rms_after: f64,
pub sensitivity: Vec<(String, f64)>,
}Expand description
The calibration result: fitted model, fit quality, and the identifiability signal.
Fields§
§inertia: Vec<LinkInertia>§friction: Vec<JointFriction>§rms_before: f64RMS torque error of the INITIAL model over the samples.
rms_after: f64RMS torque error of the fitted model.
sensitivity: Vec<(String, f64)>Per fitted parameter (name, Gauss–Newton sensitivity) — sqrt(mean (∂τ̂/∂θ)²). Near-zero
sensitivity means the data does not constrain that parameter (unidentifiable here).
Auto Trait Implementations§
impl Freeze for CalibReport
impl RefUnwindSafe for CalibReport
impl Send for CalibReport
impl Sync for CalibReport
impl Unpin for CalibReport
impl UnsafeUnpin for CalibReport
impl UnwindSafe for CalibReport
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