IKMethod

robot_behavior

Enum IKMethod 

Source 
pub enum IKMethod {
    Analytic {
        fallback: Box<IKMethod>,
    },
    DLS {
        lambda: f64,
        stop: CommonStop,
    },
    JT {
        gain: f64,
        stop: CommonStop,
    },
    Newton {
        stop: CommonStop,
    },
    LM {
        lambda0: f64,
        stop: CommonStop,
    },
}

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Analytic

解析（如果 RigidArm::ANALYTIC_FAMILY != None 则尝试解析；否则回退到 fallback）

Fields

§fallback: Box<IKMethod>
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DLS

Damped Least Squares （Levenberg-Marquardt 样式）

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§lambda: f64
§stop: CommonStop
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JT

Jacobian Transpose（简单鲁棒但收敛慢）

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§gain: f64
§stop: CommonStop
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Newton

Newton-Raphson（J^{-1} 或 伪逆，适合方阵/条件好）

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§stop: CommonStop
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LM

Levenberg–Marquardt（对几何残差，阻尼可自适应）

Fields

§lambda0: f64
§stop: CommonStop

Trait Implementations§

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impl Clone for IKMethod

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fn clone(&self) -> IKMethod

Returns a duplicate of the value. Read more
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fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source. Read more
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impl Debug for IKMethod

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

Formats the value using the given formatter. Read more

Auto Trait Implementations§

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impl<T> Any for T
where T: 'static + ?Sized,

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fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more
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impl<T> Borrow<T> for T
where T: ?Sized,

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fn borrow(&self) -> &T

Immutably borrows from an owned value. Read more
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impl<T> BorrowMut<T> for T
where T: ?Sized,

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fn borrow_mut(&mut self) -> &mut T

Mutably borrows from an owned value. Read more
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impl<T> CloneToUninit for T
where T: Clone,

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unsafe fn clone_to_uninit(&self, dest: *mut u8)

🔬This is a nightly-only experimental API. (clone_to_uninit)
Performs copy-assignment from self to dest. Read more
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impl<T> From<T> for T

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fn from(t: T) -> T

Returns the argument unchanged.

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impl<T, U> Into<U> for T
where U: From<T>,

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fn into(self) -> U

Calls U::from(self).

That is, this conversion is whatever the implementation of From<T> for U chooses to do.

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impl<X> Pipe for X

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fn pipe<Return, Function>(self, f: Function) -> Return
where Self: Sized, Function: FnOnce(Self) -> Return,

Apply f to self. Read more
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fn pipe_ref<'a, Return, Function>(&'a self, f: Function) -> Return
where Function: FnOnce(&'a Self) -> Return,

Apply f to &self. Read more
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fn pipe_mut<'a, Return, Function>(&'a mut self, f: Function) -> Return
where Function: FnOnce(&'a mut Self) -> Return,

Apply f to &mut self. Read more
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fn pipe_as_ref<'a, Param, Return, Function>(&'a self, f: Function) -> Return
where Self: AsRef<Param>, Param: 'a + ?Sized, Function: FnOnce(&'a Param) -> Return,

Apply f to &self where f takes a single parameter of type Param and Self implements trait AsRef<Param>. Read more
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fn pipe_as_mut<'a, Param, Return, Function>(&'a mut self, f: Function) -> Return
where Self: AsMut<Param>, Param: 'a + ?Sized, Function: FnOnce(&'a mut Param) -> Return,

Apply f to &mut self where f takes a single parameter of type Param and Self implements trait AsMut<Param>. Read more
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fn pipe_deref<'a, Param, Return, Function>(&'a self, f: Function) -> Return
where Self: Deref<Target = Param>, Param: 'a + ?Sized, Function: FnOnce(&'a Param) -> Return,

Apply f to &self where f takes a single parameter of type Param and Self implements trait Deref<Target = Param>. Read more
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fn pipe_deref_mut<'a, Param, Return, Function>( &'a mut self, f: Function, ) -> Return
where Self: DerefMut<Target = Param>, Param: 'a + ?Sized, Function: FnOnce(&'a mut Param) -> Return,

Apply f to &mut self where f takes a single parameter of type Param and Self implements trait DerefMut<Target = Param>. Read more
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fn pipe_borrow<'a, Param, Return, Function>(&'a self, f: Function) -> Return
where Self: Borrow<Param>, Param: 'a + ?Sized, Function: FnOnce(&'a Param) -> Return,

Apply f to &self where f takes a single parameter of type Param and Self implements trait Borrow<Param>. Read more
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fn pipe_borrow_mut<'a, Param, Return, Function>( &'a mut self, f: Function, ) -> Return
where Self: BorrowMut<Param>, Param: 'a + ?Sized, Function: FnOnce(&'a mut Param) -> Return,

Apply f to &mut self where f takes a single parameter of type Param and Self implements trait BorrowMut<Param>. Read more
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impl<T> Same for T

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type Output = T

Should always be Self
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impl<SS, SP> SupersetOf<SS> for SP
where SS: SubsetOf<SP>,

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fn to_subset(&self) -> Option<SS>

The inverse inclusion map: attempts to construct self from the equivalent element of its superset. Read more
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fn is_in_subset(&self) -> bool

Checks if self is actually part of its subset T (and can be converted to it).
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fn to_subset_unchecked(&self) -> SS

Use with care! Same as self.to_subset but without any property checks. Always succeeds.
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fn from_subset(element: &SS) -> SP

The inclusion map: converts self to the equivalent element of its superset.
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impl<T> ToOwned for T
where T: Clone,

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type Owned = T

The resulting type after obtaining ownership.
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fn to_owned(&self) -> T

Creates owned data from borrowed data, usually by cloning. Read more
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fn clone_into(&self, target: &mut T)

Uses borrowed data to replace owned data, usually by cloning. Read more
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impl<T, U> TryFrom<U> for T
where U: Into<T>,

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type Error = Infallible

The type returned in the event of a conversion error.
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fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>

Performs the conversion.
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impl<T, U> TryInto<U> for T
where U: TryFrom<T>,

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type Error = <U as TryFrom<T>>::Error

The type returned in the event of a conversion error.
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fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>

Performs the conversion.