novaphy.ik.IKObjectiveRotation¶
Three-row objective that matches a link-frame orientation.
IKObjectiveRotation(
link_index,
link_offset_rotation,
target_rotations,
canonicalize_quat_err=True,
weight=1.0,
)
Both link_offset_rotation and the (n_problems, 4) target array use
[x, y, z, w] quaternions. With canonicalize_quat_err=True, the residual
uses the short-arc quaternion representation. The residual itself is an
axis-angle three-vector.
set_target_rotation(problem_idx, new_rotation) updates one problem;
set_target_rotations(new_rotations) replaces the complete target array.
residual_dim() returns 3.