Trait openrr_planner::InverseKinematicsSolver [−][src]
pub trait InverseKinematicsSolver<T> where
T: RealField, { fn solve_with_constraints(
&self,
arm: &SerialChain<T>,
target_pose: &Isometry<T, Unit<Quaternion<T>>, 3_usize>,
constraints: &Constraints
) -> Result<(), Error>; fn solve(
&self,
arm: &SerialChain<T>,
target_pose: &Isometry<T, Unit<Quaternion<T>>, 3_usize>
) -> Result<(), Error> { ... } }
Expand description
IK solver
Required methods
fn solve_with_constraints(
&self,
arm: &SerialChain<T>,
target_pose: &Isometry<T, Unit<Quaternion<T>>, 3_usize>,
constraints: &Constraints
) -> Result<(), Error>
fn solve_with_constraints(
&self,
arm: &SerialChain<T>,
target_pose: &Isometry<T, Unit<Quaternion<T>>, 3_usize>,
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: &Isometry<T, Unit<Quaternion<T>>, 3_usize>
) -> Result<(), Error>
fn solve(
&self,
arm: &SerialChain<T>,
target_pose: &Isometry<T, Unit<Quaternion<T>>, 3_usize>
) -> Result<(), Error>Move the end transform of the arm to target_pose
Implementors
impl<T, I> InverseKinematicsSolver<T> for RandomInitializeIkSolver<T, I> where
T: RealField + SubsetOf<f64>,
I: InverseKinematicsSolver<T>,