Struct TrajectoryTreeIk 

pub struct TrajectoryTreeIk<T> {
    pub times: Vec<T>,
    pub q_start: Array1<T>,
    pub q_end: Array1<T>,
    pub base_link: String,
    pub ee_link: String,
}

Tree-model trajectory IK over a time grid (full-model q in actuated order).

Fields

times: Vec<T>

q_start: Array1<T>

q_end: Array1<T>

base_link: String

ee_link: String

Implementations

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

pub fn solve<M: KinematicTreeModel<T>>( &self, model: &M, config: &TrajectoryIkConfig<T>, ) -> Result<TrajectoryIkResult<T>, SimError>

Solve tree DLS IK at each time sample by blending joint targets then FK-ing to SE(3).

Trait Implementations

impl<T: Clone> Clone for TrajectoryTreeIk<T>

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

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl<T: Debug> Debug for TrajectoryTreeIk<T>

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

Formats the value using the given formatter.

impl<T: PartialEq> PartialEq for TrajectoryTreeIk<T>

fn eq(&self, other: &TrajectoryTreeIk<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 TrajectoryTreeIk<T>