Struct Constraints 

pub struct Constraints {
    pub from: [f64; 6],
    pub to: [f64; 6],
    pub centers: [f64; 6],
    pub tolerances: [f64; 6],
    pub sorting_weight: f64,
}

Fields

from: [f64; 6]

Normalized lower limit. If more than upper limit, the range wraps-around through 0

to: [f64; 6]

Normalized upper limit. If less than lower limit, the range wraps-around through 0

centers: [f64; 6]

tolerances: [f64; 6]

sorting_weight: f64

Used when sorting the solutions by both middle values of the constraints and the previous values of the joints. 1.0 gives the absolute priority to constraints, 0.0. gives absolute priority for joints.

Implementations

impl Constraints

pub fn new(from: Joints, to: Joints, sorting_weight: f64) -> Self

Create constraints that restrict the joint rotations between ‘from’ to ‘to’ values. Wrapping arround is supported so order is important. For instance, from = 0.1 and to = 0.2 (radians) means the joint is allowed to rotate to 0.11, 0.12 … 1.99, 0.2. from = 0.2 ant to = 0.1 is also valid but means the joint is allowed to rotate to 0.21, 0.22, 0.99, 2 * PI or 0.0 (wrapping around), then to 0.09 and finally 0.1, so the other side of the circle. The sorting_weight parameter influences sorting of the results: 0.0 (or BY_PREV) gives absolute priority to the previous values of the joints, 1.0 (or BY_CONSTRAINTS) gives absolute priority to the middle values of constraints. Intermediate values like 0.5 provide the weighted compromise.

pub fn from_degrees( ranges: [RangeInclusive<f64>; 6], sorting_weight: f64, ) -> Self

Initializes Constraints from an array of 6 ranges (RangeInclusive<f64>), where each range specifies the from (start) and to (end) values for each joint. This is convenience method, where VALUES MUST BE GIVEN IN DEGREES.

Parameters

• ranges: An array of 6 RangeInclusive<f64> values, each representing a range for one joint.
  • The start of each range is taken as the from bound.
  • The end of each range is taken as the to bound.
• sorting_weight: A f64 value representing the sorting weight for the constraint.

Returns

A new instance of Constraints with from, to, centers, and tolerances calculated based on the specified ranges.

Example

use rs_opw_kinematics::constraints::{Constraints, BY_PREV};
let constraints = Constraints::from_degrees(
  [0.0..=90.0, 45.0..=135.0, -90.0..=90.0, 0.0..=180.0, -45.0..=45.0, -180.0..=180.0], 
  BY_PREV);

pub fn update_range(&mut self, from: Joints, to: Joints)

pub fn compliant(&self, angles: &[f64; 6]) -> bool

Checks if all values in the given vector or angles satisfy these constraints.

pub fn filter(&self, angles: &Vec<[f64; 6]>) -> Vec<[f64; 6]>

Return new vector of angle arrays, removing all that have members not satisfying these constraints.

pub fn to_yaml(&self) -> String

pub fn random_angles(&self) -> Joints

Generate a random valid angle within the defined constraints for each joint.

Trait Implementations

impl Clone for Constraints

fn clone(&self) -> Constraints

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for Constraints

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

Formats the value using the given formatter.

impl Default for Constraints

fn default() -> Self

Returns the “default value” for a type.

impl Copy for Constraints