Struct rubullet::InverseKinematicsParameters

pub struct InverseKinematicsParameters<'a> {
    pub end_effector_link_index: usize,
    pub target_position: Vector3<f64>,
    pub target_orientation: Option<UnitQuaternion<f64>>,
    pub limits: Option<InverseKinematicsNullSpaceParameters<'a>>,
    pub joint_damping: Option<&'a [f64]>,
    pub solver: IkSolver,
    pub current_position: Option<&'a [f64]>,
    pub max_num_iterations: Option<usize>,
    pub residual_threshold: Option<f64>,
}

Parameters for the calculate_inverse_kinematics() You can easily create them using the InverseKinematicsParametersBuilder

Fields

end_effector_link_index: usize

end effector link index

target_position: Vector3<f64>

Target position of the end effector (its link coordinate, not center of mass coordinate!). By default this is in Cartesian world space, unless you provide current_position joint angles.

target_orientation: Option<UnitQuaternion<f64>>

Target orientation in Cartesian world space. If not specified, pure position IK will be used.

limits: Option<InverseKinematicsNullSpaceParameters<'a>>

Optional null-space IK

joint_damping: Option<&'a [f64]>

joint_damping allows to tune the IK solution using joint damping factors

solver: IkSolver

Solver which should be used for the Inverse Kinematics

current_position: Option<&'a [f64]>

By default RuBullet uses the joint positions of the body. If provided, the target_position and target_orientation is in local space!

max_num_iterations: Option<usize>

Refine the IK solution until the distance between target and actual end effector position is below the residual threshold, or the max_num_iterations is reached

residual_threshold: Option<f64>

Refine the IK solution until the distance between target and actual end effector position is below this threshold, or the max_num_iterations is reached

Trait Implementations

impl<'a> Default for InverseKinematicsParameters<'a>

fn default() -> Self

Returns the “default value” for a type.