Struct IkConfig 

pub struct IkConfig {
    pub max_iterations: usize,
    pub tolerance: f64,
    pub damping: f64,
    pub min_damping: f64,
    pub max_damping: f64,
    pub step_scale: f64,
    pub respect_limits: bool,
    pub locked: Vec<usize>,
}

Solver settings. IkConfig::default is tuned for robot-arm-sized problems: metres and radians, goals within reach, a seed that is not exactly at a singularity.

Fields

max_iterations: usize

Maximum Levenberg–Marquardt iterations, counting rejected trials.

tolerance: f64

Convergence threshold on the largest single residual component — metres for position rows, radians for orientation rows.

damping: f64

Initial damping λ. Larger is slower and steadier.

min_damping: f64

Floor on λ. Keeps the normal equations conditioned near singularities; zero is legal but asks for a numerically exact rank decision.

max_damping: f64

Ceiling on λ. Once damping has to exceed this to make progress, the solver has stalled and returns.

step_scale: f64

Fraction of the computed step to take. 1.0 is the LM step; lower it only when the model has joints whose Jacobian changes violently.

respect_limits: bool

Enforce single-DOF joint limits by clamping after each accepted step.

locked: Vec<usize>

Velocity-index DOFs to hold fixed (indices into 0..model.nv).

Trait Implementations

impl Clone for IkConfig

fn clone(&self) -> IkConfig

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for IkConfig

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

Formats the value using the given formatter.

impl Default for IkConfig

fn default() -> IkConfig

Returns the “default value” for a type.

impl PartialEq for IkConfig

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

Equality operator ==.

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

Inequality operator !=.

impl StructuralPartialEq for IkConfig