Struct CuDiffIkParams 

pub struct CuDiffIkParams {
    pub base_damping: f64,
    pub max_singularity_damping: f64,
    pub singularity_threshold_sq: f64,
    pub limit_margin: Angle,
    pub linear_limit_margin: Length,
    pub enforce_velocity_limits: bool,
}

Parameters of velocity/twist differential inverse kinematics (Jacobian servoing).

RON (every field optional, SI values): {"base_damping": 0.02, "max_singularity_damping": 0.25, "singularity_threshold_sq": 1e-4, "limit_margin": 0.15, "linear_limit_margin": 0.015, "enforce_velocity_limits": true}

Fields

base_damping: f64

Baseline damping factor $\lambda_0 > 0$ used far from singularities (dimensionless).

max_singularity_damping: f64

Maximum additional damping $\lambda_{\max} \ge 0$ added at exact singularity (dimensionless).

singularity_threshold_sq: f64

Yoshikawa manipulability squared threshold $w_{\text{thresh}}^2$ below which adaptive singularity damping ramps up smoothly (dimensionless; 0 disables it).

limit_margin: Angle

Revolute joint-limit proximity margin within which motion toward a limit is smoothly damped.

linear_limit_margin: Length

Prismatic joint-limit damping distance.

enforce_velocity_limits: bool

Whether to uniformly scale output joint velocities when any joint exceeds max_velocity.

Implementations

impl CuDiffIkParams

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

Rejects invalid damping parameters and negative or non-finite limit margins.

Trait Implementations

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

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 CuDiffIkParams

fn clone(&self) -> CuDiffIkParams

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for CuDiffIkParams

impl Debug for CuDiffIkParams

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

Formats the value using the given formatter.

impl<__Context> Decode<__Context> for CuDiffIkParams

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

Attempt to decode this type with the given Decode.

impl Default for CuDiffIkParams

fn default() -> Self

Returns the “default value” for a type.

impl<'de> Deserialize<'de> for CuDiffIkParams

where CuDiffIkParams: Default,

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

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl Encode for CuDiffIkParams

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

Encode a given type.

impl PartialEq for CuDiffIkParams

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

Equality operator ==.

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

Inequality operator !=.

impl Serialize for CuDiffIkParams

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 CuDiffIkParams

impl TypePath for CuDiffIkParams

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>