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<(), Error>;

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

IK solver

Required Methods

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

Provided Methods

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

Move the end transform of the arm to target_pose

Implementors

impl<T> InverseKinematicsSolver<T> for JacobianIkSolver<T>where
    T: RealField + SubsetOf<f64>,