Struct IkOptions 

pub struct IkOptions {
    pub damping: f64,
    pub nullspace_gain: f64,
    pub iterations: u32,
    pub tolerance: f64,
    pub limit_margin: f64,
    pub max_step: 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, a posture bias through the nullspace, the step capped at max_step and clamped inside the joint limits.

Fields

damping: f64

λ of the damped least squares Jᵀ (J Jᵀ + λ² I)⁻¹. 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

Residual (m plus rad, one norm) below which a cycle stops iterating. Default 1e-6.

limit_margin: f64

How far, rad, inside the joint position limits the solution is kept, its start (the measured configuration) included. Default 0.02.

max_step: f64

The most, rad, any joint of the solution moves in one cycle: a larger step is scaled down as a whole, so an unreachable or singular pose is approached at a bounded rate instead of jumped at. Default 0.01 (10 rad/s).

Implementations

impl IkOptions

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

Errors

FrankaError::InvalidArgument unless damping and max_step are finite and positive, nullspace_gain, tolerance and limit_margin finite and non-negative, and iterations at least one.

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