Trait openrr_planner::InverseKinematicsSolver

pub trait InverseKinematicsSolver<T>
where
    T: RealField,
{
    // Required method
    fn solve_with_constraints(
        &self,
        arm: &SerialChain<T>,
        target_pose: &Isometry<T, Unit<Quaternion<T>>, 3>,
        constraints: &Constraints,
    ) -> Result<(), Error>;

    // Provided method
    fn solve(
        &self,
        arm: &SerialChain<T>,
        target_pose: &Isometry<T, Unit<Quaternion<T>>, 3>,
    ) -> Result<(), Error> { ... }
}

IK solver

Required Methods

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

Move the end transform of the arm to target_pose with constraints

Provided Methods

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

Implementors

impl<T> InverseKinematicsSolver<T> for JacobianIkSolver<T>

where T: RealField + SubsetOf<f64>,

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

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