Struct rubullet::InverseKinematicsParametersBuilder

pub struct InverseKinematicsParametersBuilder<'a> { /* fields omitted */ }

creates InverseKinematicsParameters using the Builder Pattern which can then be used in calculate_inverse_kinematics(). Use the build() method to get the parameters.

const INITIAL_JOINT_POSITIONS: [f64; 9] =
    [0.98, 0.458, 0.31, -2.24, -0.30, 2.66, 2.32, 0.02, 0.02];
const PANDA_NUM_DOFS: usize = 7;
const PANDA_END_EFFECTOR_INDEX: usize = 11;
const LL: [f64; 9] = [-7.; 9]; // size is 9 = 7 DOF + 2 DOF for the gripper
const UL: [f64; 9] = [7.; 9]; // size is 9 = 7 DOF + 2 DOF for the gripper
const JR: [f64; 9] = [7.; 9]; // size is 9 = 7 DOF + 2 DOF for the gripper
const NULL_SPACE_PARAMETERS: InverseKinematicsNullSpaceParameters<'static> =
   InverseKinematicsNullSpaceParameters {
       lower_limits: &LL,
       upper_limits: &UL,
       joint_ranges: &JR,
       rest_poses: &INITIAL_JOINT_POSITIONS,
   };
let inverse_kinematics_parameters = InverseKinematicsParametersBuilder::new(
            PANDA_END_EFFECTOR_INDEX,
            &Isometry3::translation(0.3,0.3,0.3),
        )
        .set_max_num_iterations(5)
        .use_null_space(NULL_SPACE_PARAMETERS)
        .build();

Implementations

impl<'a> InverseKinematicsParametersBuilder<'a>

pub fn new(
    end_effector_link_index: usize,
    target_pose: &'a Isometry3<f64>
) -> Self

creates a new InverseKinematicsParametersBuilder

Arguments

• end_effector_link_index - end effector link index
• target_pose - target pose of the end effector in its link coordinate (not CoM). use ignore_orientation() if you do not want to consider the orientation

pub fn ignore_orientation(self) -> Self

Do not consider the orientation while calculating the IK

pub fn use_null_space(
    self,
    limits: InverseKinematicsNullSpaceParameters<'a>
) -> Self

Consider the nullspace when calculating the IK

pub fn set_joint_damping(self, joint_damping: &'a [f64]) -> Self

Allow to tune the IK solution using joint damping factors

pub fn set_ik_solver(self, solver: IkSolver) -> Self

Use a different IK-Solver. The default is DLS

pub fn set_current_position(self, current_position: &'a [f64]) -> Self

Specify the current joint position if you do not want to use the position of the body. If you use it the target pose will be in local space!

pub fn set_max_num_iterations(self, iterations: usize) -> Self

Sets the maximum number of iterations. The default is 20.

pub fn set_residual_threshold(self, residual_threshold: f64) -> Self

Recalculate the IK until the distance between target and actual end effector is smaller than the residual threshold or max_num_iterations is reached.

pub fn build(self) -> InverseKinematicsParameters<'a>

creates the parameters