Struct MinimumDiscretePlanarInverseKinematics 

pub struct MinimumDiscretePlanarInverseKinematics { /* private fields */ }

The Minimum Discrete Planar Inverse Kinematics problem.

Given positive link lengths l_1, ..., l_n, a target point g in R^2, sampled absolute orientations Phi_j = {phi_{j,0}, ..., phi_{j,m_j-1}} for each link, and admissible-pair sets A_j ⊆ {0, ..., m_{j-1}-1} x {0, ..., m_j-1} for j = 2, ..., n, choose indices a_j ∈ {0, ..., m_j-1} such that (a_{j-1}, a_j) ∈ A_j for every j = 2, ..., n, minimizing

|| Σ_{j=1}^n l_j (cos(phi_{j,a_j}), sin(phi_{j,a_j})) - g ||_2^2.

Implementations

impl MinimumDiscretePlanarInverseKinematics

pub fn new( link_lengths: Vec<f64>, target_point: (f64, f64), orientation_samples: Vec<Vec<f64>>, allowed_pairs: Vec<Vec<(usize, usize)>>, ) -> Self

Construct a new instance.

Panics

Panics if the input fields are not mutually consistent (see the validation rules in the source).

pub fn link_lengths(&self) -> &[f64]

Get the link lengths.

pub fn target_point(&self) -> (f64, f64)

Get the target point.

pub fn orientation_samples(&self) -> &[Vec<f64>]

Get the per-link orientation samples.

pub fn allowed_pairs(&self) -> &[Vec<(usize, usize)>]

Get the admissible-pair sets for consecutive junctions.

pub fn num_links(&self) -> usize

Number of links n.

pub fn total_configurations(&self) -> usize

Total number of configurations (product of per-link sample counts): prod_{j=1}^n m_j. This is the size of the brute-force search space.

pub fn num_orientation_samples(&self) -> usize

Total number of sampled orientations across all links: sum_{j=1}^n m_j. This is the QUBO variable count for the one-hot encoding used by the QUBO reduction.

pub fn is_feasible(&self, config: &[usize]) -> bool

Check if a configuration is feasible (one index per link, in range, and every consecutive pair lies in the corresponding admissible set).

pub fn end_effector(&self, config: &[usize]) -> Option<(f64, f64)>

Compute the end-effector position for a configuration. Returns None if the configuration is infeasible.

pub fn squared_distance(&self, config: &[usize]) -> Option<f64>

Compute the squared end-effector distance to the target. Returns None if the configuration is infeasible.

pub fn is_valid_solution(&self, config: &[usize]) -> bool

Whether the configuration represents a valid feasible solution.

Trait Implementations

impl Clone for MinimumDiscretePlanarInverseKinematics

fn clone(&self) -> MinimumDiscretePlanarInverseKinematics

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for MinimumDiscretePlanarInverseKinematics

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

Formats the value using the given formatter.

impl<'de> Deserialize<'de> for MinimumDiscretePlanarInverseKinematics

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

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl Problem for MinimumDiscretePlanarInverseKinematics

const NAME: &'static str = "MinimumDiscretePlanarInverseKinematics"

Base name of this problem type (e.g., “MaximumIndependentSet”).

type Value = Min<f64>

The evaluation value type.

fn variant() -> Vec<(&'static str, &'static str)>

Returns variant attributes derived from type parameters.

fn dims(&self) -> Vec<usize>

Configuration space dimensions. Each entry is the cardinality of that variable.

fn evaluate(&self, config: &[usize]) -> Min<f64>

Evaluate the problem on a configuration.

fn num_variables(&self) -> usize

Number of variables (derived from dims).

fn problem_type() -> ProblemType

Look up this problem’s catalog entry.

impl ReduceTo<QUBO> for MinimumDiscretePlanarInverseKinematics

type Result = ReductionMinimumDiscretePlanarInverseKinematicsToQUBO

The reduction result type.

fn reduce_to(&self) -> Self::Result

Reduce this problem to the target problem type.

impl Serialize for MinimumDiscretePlanarInverseKinematics

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

where __S: Serializer,

Serialize this value into the given Serde serializer.

impl DeclaredVariant for MinimumDiscretePlanarInverseKinematics