Struct IkOptions 

pub struct IkOptions {
    pub damping: f64,
    pub nullspace_gain: f64,
    pub iterations: u32,
    pub tolerance: f64,
    pub rotation_weight: f64,
}

Options of the Cartesian backend’s differential inverse kinematics: every cycle, from the previous joint goal, up to iterations damped-least-squares steps toward the pose inside the cycle’s joint box, with a posture bias through the nullspace.

Fields

damping: f64

λ of the damped least squares J̃ᵀ (J̃ J̃ᵀ + λ² I)⁻¹ on the weighted Jacobian J̃ = W J, its rotation rows scaled by rotation_weight. Default 0.05.

nullspace_gain: f64

Gain, 1/s, of the nullspace pull toward the posture; the pull moves no joint faster than MAX_POSTURE_RATE whatever the gain and the distance. Default 1.0.

iterations: u32

Steps per cycle. Default 3.

tolerance: f64

Weighted residual below which a cycle stops iterating. Default 1e-6.

rotation_weight: f64

m per rad: the orientation error’s weight against the position error’s in the task, the residual and tolerance. At 0.1, 1 mm costs as much as 10 mrad, so a pose the joints cannot reach gives up orientation before position; while a joint limit stalls the goal, position comes first, to within micrometres. Within (0, 1]. Default 0.1.

Implementations

impl IkOptions

pub fn validate(&self) -> FrankaResult<()>

Errors

FrankaError::InvalidArgument unless it has a finite, positive damping, finite and non-negative nullspace_gain and tolerance, a rotation_weight within (0, 1], and at least one iteration.

Trait Implementations

impl Clone for IkOptions

fn clone(&self) -> IkOptions

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Copy for IkOptions

impl Debug for IkOptions

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

Formats the value using the given formatter.

impl Default for IkOptions

fn default() -> Self

Returns the “default value” for a type.

impl PartialEq for IkOptions

fn eq(&self, other: &IkOptions) -> bool

Tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl StructuralPartialEq for IkOptions