How to change the "weight_priors" weight value in objective_master.rs?

[WangXingfang]

When we run the example, we find that the rotation error of the end-effector is somewhat large, so we want to increase the weight of the end-effector rotation variable. But we don't know how to modify the .rs files, compile them and make them effective, it seems that they are already encapsulated as .so files.

Here's what we want to change in objective_master.rs:

        objectives.push(Box::new(MatchEEPosiDoF::new(i, 0)));
        weight_priors.push(50.0);
        objectives.push(Box::new(MatchEEPosiDoF::new(i, 1)));
        weight_priors.push(50.0);
        objectives.push(Box::new(MatchEEPosiDoF::new(i, 2)));
        weight_priors.push(50.0);
        objectives.push(Box::new(MatchEERotaDoF::new(i, 0)));
        ** \\ We want to change 10.0 to 30.0 or higher to improve the end effector rotation accuracy.**
        weight_priors.push(10.0);   
        objectives.push(Box::new(MatchEERotaDoF::new(i, 1)));
        weight_priors.push(10.0);
        objectives.push(Box::new(MatchEERotaDoF::new(i, 2)));
        weight_priors.push(10.0);

[yepw]

Hi @WangXingfang , thank you for your interest in our tool. You are right that tweaking the weights can lead to smaller rotation errors. After changing the objective_master.rs, all you need to do is re-compile the rust code:

cd relaxed-ik-core
cargo build

Let me know if you have any further questions.