Struct IkGoal 

pub struct IkGoal {
    pub body: usize,
    pub kind: IkGoalKind,
    pub weight: f64,
}

A single kinematic goal.

Build with IkGoal::position or IkGoal::orientation and adjust weight to trade goals off against each other — weights scale the residual rows, so a goal at weight 10.0 is worth a hundred times one at weight 1.0 in the least-squares sense.

Fields

body: usize

Body the goal applies to.

kind: IkGoalKind

What is being asked of it.

weight: f64

Relative importance. Defaults to 1.0.

Implementations

impl IkGoal

pub fn position( body: usize, local_point: Vec3<f64>, target: Vec3<f64>, ) -> IkGoal

A position goal at unit weight: put local_point (body frame) on target (world frame).

pub fn orientation(body: usize, target: Mat3<f64>) -> IkGoal

An orientation goal at unit weight. target is the desired world→body rotation; see IkGoalKind::Orientation.

pub fn with_weight(self, weight: f64) -> IkGoal

Set the goal’s weight, builder-style.

Trait Implementations

impl Clone for IkGoal

fn clone(&self) -> IkGoal

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for IkGoal

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

Formats the value using the given formatter.

impl PartialEq for IkGoal

fn eq(&self, other: &IkGoal) -> bool

Equality operator ==.

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

Inequality operator !=.

impl StructuralPartialEq for IkGoal