Struct TrajectoryIk 

pub struct TrajectoryIk<T> {
    pub times: Vec<T>,
    pub q_start: Array1<T>,
    pub q_end: Array1<T>,
}

Interpolated joint-space targets over a time grid, solved with serial DLS IK.

Fields

times: Vec<T>

q_start: Array1<T>

q_end: Array1<T>

Implementations

impl<T: NabledReal + LuProviderScalar> TrajectoryIk<T>

pub fn solve( &self, chain: &ChainSpec<T>, config: &TrajectoryIkConfig<T>, ) -> Result<TrajectoryIkResult<T>, SimError>

Solve IK at each time sample by linearly blending q_start → q_end FK targets.

pub fn solve_targets( times: &[T], chain: &ChainSpec<T>, q_init: &ArrayView1<'_, T>, targets: &[Transform3<T>], config: &TrajectoryIkConfig<T>, ) -> Result<TrajectoryIkResult<T>, SimError>

Solve IK from explicit SE(3) targets (one per time sample).

Trait Implementations

impl<T: Clone> Clone for TrajectoryIk<T>

fn clone(&self) -> TrajectoryIk<T>

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl<T: Debug> Debug for TrajectoryIk<T>

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl<T: PartialEq> PartialEq for TrajectoryIk<T>

fn eq(&self, other: &TrajectoryIk<T>) -> bool

Tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl<T> StructuralPartialEq for TrajectoryIk<T>