Trait skelly::ik::IkSolver [−][src]
Trait for ik solvers. Using this common interface user may replace implementation easily.
Required methods
fn new(error: T) -> Self
[src]
Returns new solver with maximum tolerable error.
fn solve_step<D>(
&mut self,
skelly: &Skelly<T, D>,
posture: &mut Posture<T>
) -> StepResult<T>
[src]
&mut self,
skelly: &Skelly<T, D>,
posture: &mut Posture<T>
) -> StepResult<T>
Performs one step toward solution.
Implementors
impl<T> IkSolver<T> for RotorSolver<T> where
T: RealField,
[src]
T: RealField,
fn new(error: T) -> Self
[src]
fn solve_step<D>(
&mut self,
skelly: &Skelly<T, D>,
posture: &mut Posture<T>
) -> StepResult<T>
[src]
&mut self,
skelly: &Skelly<T, D>,
posture: &mut Posture<T>
) -> StepResult<T>