Enum CuDiffIkStatus 

pub enum CuDiffIkStatus {
    Nominal {
        manipulability_sq: f64,
    },
    SingularityDamped {
        manipulability_sq: f64,
        effective_damping: f64,
    },
    VelocityScaled {
        manipulability_sq: f64,
        scale: f64,
    },
}

Status reported by a single differential IK velocity solve.

Variants

Nominal

Nominal tracking outside the singularity damping zone and within velocity limits.

Fields

manipulability_sq: f64

SingularityDamped

Near-singular configuration triggered adaptive manipulability damping.

Fields

manipulability_sq: f64

effective_damping: f64

VelocityScaled

Joint velocities were uniformly scaled in (0.0, 1.0] to respect joint velocity limits.

Fields

manipulability_sq: f64

scale: f64

Trait Implementations

impl<'__de, __Context> BorrowDecode<'__de, __Context> for CuDiffIkStatus

fn borrow_decode<__D: BorrowDecoder<'__de, Context = __Context>>( decoder: &mut __D, ) -> Result<Self, DecodeError>

Attempt to decode this type with the given BorrowDecode.

impl Clone for CuDiffIkStatus

fn clone(&self) -> CuDiffIkStatus

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for CuDiffIkStatus

impl Debug for CuDiffIkStatus

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

Formats the value using the given formatter.

impl<__Context> Decode<__Context> for CuDiffIkStatus

fn decode<__D: Decoder<Context = __Context>>( decoder: &mut __D, ) -> Result<Self, DecodeError>

Attempt to decode this type with the given Decode.

impl Default for CuDiffIkStatus

fn default() -> Self

Returns the “default value” for a type.

impl<'de> Deserialize<'de> for CuDiffIkStatus

fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl Encode for CuDiffIkStatus

fn encode<__E: Encoder>(&self, encoder: &mut __E) -> Result<(), EncodeError>

Encode a given type.

impl PartialEq for CuDiffIkStatus

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

Equality operator ==.

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

Inequality operator !=.

impl Serialize for CuDiffIkStatus

fn serialize<__S>(&self, __serializer: __S) -> Result<__S::Ok, __S::Error>

where __S: Serializer,

Serialize this value into the given Serde serializer.

impl StructuralPartialEq for CuDiffIkStatus

impl TypePath for CuDiffIkStatus

fn type_path() -> &'static str

fn short_type_path() -> &'static str

fn type_ident() -> Option<&'static str>

fn crate_name() -> Option<&'static str>

fn module_path() -> Option<&'static str>