[−][src]Trait k::InverseKinematicsSolver

pub trait InverseKinematicsSolver<T> where
    T: RealField, {
    fn solve_with_constraints(
        &self, 
        arm: &SerialChain<T>, 
        target_pose: &Isometry3<T>, 
        constraints: &Constraints
    ) -> Result<(), IKError>;

    fn solve(
        &self, 
        arm: &SerialChain<T>, 
        target_pose: &Isometry3<T>
    ) -> Result<(), IKError> { ... }
}

IK solver

Required methods

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

Move the end transform of the arm to target_pose with constraints

Loading content...

Provided methods

fn solve(
    &self,
    arm: &SerialChain<T>,
    target_pose: &Isometry3<T>
) -> Result<(), IKError>

Move the end transform of the arm to target_pose

Loading content...

Implementors

impl<T> InverseKinematicsSolver<T> for JacobianIKSolver<T> where
    T: RealField, [src]

fn solve(
    &self,
    arm: &SerialChain<T>,
    target_pose: &Isometry3<T>
) -> Result<(), IKError>[src]

Set joint positions of arm to reach the target_pose

Examples

use k::prelude::*;

let chain = k::Chain::<f32>::from_urdf_file("urdf/sample.urdf").unwrap();
// Create sub-`Chain` to make it easy to use inverse kinematics
let target_joint_name = "r_wrist_pitch";
let r_wrist = chain.find(target_joint_name).unwrap();
let mut arm = k::SerialChain::from_end(r_wrist);
println!("arm: {}", arm);

// Set joint positions of `arm`
let positions = vec![0.1, 0.2, 0.0, -0.5, 0.0, -0.3];
arm.set_joint_positions(&positions).unwrap();
println!("initial positions={:?}", arm.joint_positions());

// Get the transform of the end of the manipulator (forward kinematics)
let mut target = arm.update_transforms().last().unwrap().clone();

println!("initial target pos = {}", target.translation);
println!("move x: -0.1");
target.translation.vector.x -= 0.1;

// Create IK solver with default settings
let solver = k::JacobianIKSolver::default();

// solve and move the manipulator positions
solver.solve(&arm, &target).unwrap();
println!("solved positions={:?}", arm.joint_positions());
Loading content...