Struct CuIkParams 

pub struct CuIkParams {
    pub solver: CuIkSolver,
    pub max_iterations: u32,
    pub position_tolerance: Length,
    pub orientation_tolerance: Angle,
    pub damping: f64,
    pub max_step: Angle,
    pub max_linear_step: Length,
    pub enforce_joint_limits: bool,
}

Parameters of the inverse kinematics solver selected by solver.

RON (every field optional, SI values): {"solver": "damped_least_squares", "max_iterations": 64, "position_tolerance": 1e-4, "orientation_tolerance": 1e-3, "damping": 0.05, "max_step": 0.25, "max_linear_step": 0.025, "enforce_joint_limits": true}

Fields

solver: CuIkSolver

The solver algorithm.

max_iterations: u32

Maximum solver iterations per call.

position_tolerance: Length

Position convergence threshold.

orientation_tolerance: Angle

Orientation convergence threshold.

damping: f64

Damping factor $\lambda > 0$ stabilizing near-singular configurations (dimensionless).

max_step: Angle

Maximum per-iteration revolute joint step.

max_linear_step: Length

Maximum per-iteration prismatic displacement.

enforce_joint_limits: bool

Whether to clamp joint coordinates to joint limits at each step.

Implementations

impl CuIkParams

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

Rejects non-positive or non-finite damping, tolerances, and step sizes.

Trait Implementations

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

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 CuIkParams

fn clone(&self) -> CuIkParams

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for CuIkParams

impl Debug for CuIkParams

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

Formats the value using the given formatter.

impl<__Context> Decode<__Context> for CuIkParams

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

Attempt to decode this type with the given Decode.

impl Default for CuIkParams

fn default() -> Self

Returns the “default value” for a type.

impl<'de> Deserialize<'de> for CuIkParams

where CuIkParams: 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 CuIkParams

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

Encode a given type.

impl PartialEq for CuIkParams

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

Equality operator ==.

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

Inequality operator !=.

impl Serialize for CuIkParams

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 CuIkParams

impl TypePath for CuIkParams

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>