Trait k::InverseKinematicsSolver
source · [−]pub trait InverseKinematicsSolver<T> where
T: RealField, {
fn solve_with_constraints(
&self,
arm: &SerialChain<T>,
target_pose: &Isometry3<T>,
constraints: &Constraints
) -> Result<(), Error>;
fn solve(
&self,
arm: &SerialChain<T>,
target_pose: &Isometry3<T>
) -> Result<(), Error> { ... }
}Expand description
IK solver
Required methods
fn solve_with_constraints(
&self,
arm: &SerialChain<T>,
target_pose: &Isometry3<T>,
constraints: &Constraints
) -> Result<(), Error>
fn solve_with_constraints(
&self,
arm: &SerialChain<T>,
target_pose: &Isometry3<T>,
constraints: &Constraints
) -> Result<(), Error>
Move the end transform of the arm to target_pose with constraints