Struct openrr_planner::RandomInitializeIkSolver

pub struct RandomInitializeIkSolver<T, I>
where
    I: InverseKinematicsSolver<T>,
    T: RealField,
{
    pub solver: I,
    pub num_max_try: usize,
    /* private fields */
}

Randomize initial joint angles before solving

Fields

solver: I

The IK solver to be used after set random joint angles

num_max_try: usize

The number to try to solve

Implementations

impl<T, I> RandomInitializeIkSolver<T, I>

where T: RealField, I: InverseKinematicsSolver<T>,

pub fn new(solver: I, num_max_try: usize) -> Self

Trait Implementations

impl<T, I> Debug for RandomInitializeIkSolver<T, I>

where I: InverseKinematicsSolver<T> + Debug, T: RealField + Debug,

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

Formats the value using the given formatter.

impl<T, I> InverseKinematicsSolver<T> for RandomInitializeIkSolver<T, I>

where T: RealField + Copy + SubsetOf<f64>, I: InverseKinematicsSolver<T>,

fn solve_with_constraints( &self, arm: &SerialChain<T>, target_pose: &Isometry3<T>, constraints: &Constraints, ) -> Result<(), Error>

Move the end transform of the arm to target_pose with constraints

fn solve( &self, arm: &SerialChain<T>, target_pose: &Isometry<T, Unit<Quaternion<T>>, 3>, ) -> Result<(), Error>

Move the end transform of the arm to target_pose