Struct openrr_client :: IkSolverWithChain Copy item path

pub fn solve_with_constraints( &self, target_pose: &Isometry3<f64>, constraints: &Constraints, ) -> Result<(), Error>

pub fn solve(&self, target_pose: &Isometry3<f64>) -> Result<(), Error>

pub fn set_joint_positions_clamped(&self, positions: &[f64])

pub fn new( arm: SerialChain<f64>, ik_solver: Arc<dyn InverseKinematicsSolver<f64> + Send + Sync>, constraints: Constraints, ) -> Self

pub fn constraints(&self) -> &Constraints

pub fn generate_trajectory_with_interpolation( &self, current_pose: &Isometry3<f64>, target_pose: &Isometry3<f64>, duration_sec: f64, max_resolution: f64, min_number_of_points: i32, ) -> Result<Vec<TrajectoryPoint>, Error>

pub fn generate_trajectory_with_interpolation_and_constraints( &self, current_pose: &Isometry3<f64>, target_pose: &Isometry3<f64>, constraints: &Constraints, duration_sec: f64, max_resolution: f64, min_number_of_points: i32, ) -> Result<Vec<TrajectoryPoint>, Error>

Auto Trait Implementations§

impl Freeze for IkSolverWithChain

impl !RefUnwindSafe for IkSolverWithChain

impl Send for IkSolverWithChain

impl Sync for IkSolverWithChain

impl Unpin for IkSolverWithChain

impl !UnwindSafe for IkSolverWithChain

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