Some improving of documentation wording.

README.md

@@ -89,58 +89,66 @@ main.rs:
 
 ```Rust
 use std::f64::consts::PI;
-use rs_opw_kinematics::kinematic_traits::{Joints, Kinematics, Pose, JOINTS_AT_ZERO};
+use rs_opw_kinematics::kinematic_traits::{Joints, Kinematics, Pose, 
+                                          JOINTS_AT_ZERO, CONSTRAINT_CENTERED};
 use rs_opw_kinematics::kinematics_impl::OPWKinematics;
 use rs_opw_kinematics::parameters::opw_kinematics::Parameters;
 use rs_opw_kinematics::utils::{dump_joints, dump_solutions};
 use rs_opw_kinematics::constraints::{BY_CONSTRAINS, BY_PREV, Constraints};
 
 fn main() {
-    let robot = OPWKinematics::new(Parameters::irb2400_10());
-    let joints: Joints = [0.0, 0.1, 0.2, 0.3, 0.0, 0.5]; // Joints are alias of [f64; 6]
-    println!("Initial joints with singularity J5 = 0: ");
-    dump_joints(&joints);
-
-    println!("Solutions (original angle set is lacking due singularity there: ");
-    let pose: Pose = robot.forward(&joints); // Pose is alias of nalgebra::Isometry3<f64>
-
-    let solutions = robot.inverse(&pose); // Solutions is alias of Vec<Joints>
-    dump_solutions(&solutions);
-
-    println!("Solutions assuming we continue from somewhere close. The 'lost solution' returns");
-    let when_continuing_from: [f64; 6] = [0.0, 0.11, 0.22, 0.3, 0.1, 0.5];
-    let solutions = robot.inverse_continuing(&pose, &when_continuing_from);
-    dump_solutions(&solutions);
-
-    println!("Same pose, all J4+J6 rotation assumed to be previously concentrated on J4 only");
-    let when_continuing_from_j6_0: [f64; 6] = [0.0, 0.11, 0.22, 0.8, 0.1, 0.0];
-    let solutions = robot.inverse_continuing(&pose, &when_continuing_from_j6_0);
-    dump_solutions(&solutions);
-
-    println!("If we do not have the previous position, we can assume we want J4, J6 close to 0.0");
-    println!("The solution appears and the needed rotation is now equally distributed between J4 and J6.");
-    let solutions = robot.inverse_continuing(&pose, &JOINTS_AT_ZERO);
-    dump_solutions(&solutions);
-
-    let robot = OPWKinematics::new_with_constraints(
-        Parameters::irb2400_10(), Constraints::new(
-            [-0.1, 0.0, 0.0, 0.0, -PI, -PI],
-            [PI, PI, 2.0 * PI, PI, PI, PI],
-            BY_PREV,
-        ));
-    println!("With constraints, sorted by proximity to the previous pose");
-    let solutions = robot.inverse_continuing(&pose, &when_continuing_from_j6_0);
-    dump_solutions(&solutions);
-
-    let robot = OPWKinematics::new_with_constraints(
-        Parameters::irb2400_10(), Constraints::new(
-            [-0.1, 0.0, 0.0, 0.0, -PI, -PI],
-            [PI, PI, 2.0 * PI, PI, PI, PI],
-            BY_CONSTRAINS,
-        ));
-    println!("With constraints, sorted by proximity to the center of constraints");
-    let solutions = robot.inverse_continuing(&pose, &when_continuing_from_j6_0);
-    dump_solutions(&solutions);
+  let robot = OPWKinematics::new(Parameters::irb2400_10());
+  let joints: Joints = [0.0, 0.1, 0.2, 0.3, 0.0, 0.5]; // Joints are alias of [f64; 6]
+  println!("Initial joints with singularity J5 = 0: ");
+  dump_joints(&joints);
+
+  println!("Solutions (original angle set is lacking due singularity there: ");
+  let pose: Pose = robot.forward(&joints); // Pose is alias of nalgebra::Isometry3<f64>
+
+  let solutions = robot.inverse(&pose); // Solutions is alias of Vec<Joints>
+  dump_solutions(&solutions);
+
+  println!("Solutions assuming we continue from somewhere close. The 'lost solution' returns");
+  let when_continuing_from: [f64; 6] = [0.0, 0.11, 0.22, 0.3, 0.1, 0.5];
+  let solutions = robot.inverse_continuing(&pose, &when_continuing_from);
+  dump_solutions(&solutions);
+
+  println!("Same pose, all J4+J6 rotation assumed to be previously concentrated on J4 only");
+  let when_continuing_from_j6_0: [f64; 6] = [0.0, 0.11, 0.22, 0.8, 0.1, 0.0];
+  let solutions = robot.inverse_continuing(&pose, &when_continuing_from_j6_0);
+  dump_solutions(&solutions);
+
+  println!("If we do not have the previous position, we can assume we want J4, J6 close to 0.0 \
+    The solution appears and the needed rotation is now equally distributed between J4 and J6.");
+  let solutions = robot.inverse_continuing(&pose, &JOINTS_AT_ZERO);
+  dump_solutions(&solutions);
+
+  let robot = OPWKinematics::new_with_constraints(
+    Parameters::irb2400_10(), Constraints::new(
+      [-0.1, 0.0, 0.0, 0.0, -PI, -PI],
+      [ PI, PI, 2.0*PI, PI, PI, PI],
+      BY_PREV,
+    ));
+
+  println!("If we do not have the previous pose yet, we can now ask to prever the pose \
+    closer to the center of constraints.");
+  let solutions = robot.inverse_continuing(&pose, &CONSTRAINT_CENTERED);
+  dump_solutions(&solutions);
+
+
+  println!("With constraints, sorted by proximity to the previous pose");
+  let solutions = robot.inverse_continuing(&pose, &when_continuing_from_j6_0);
+  dump_solutions(&solutions);
+
+  let robot = OPWKinematics::new_with_constraints(
+    Parameters::irb2400_10(), Constraints::new(
+      [-0.1, 0.0, 0.0, 0.0, -PI, -PI],
+      [ PI, PI, 2.0*PI, PI, PI, PI],
+      BY_CONSTRAINS,
+    ));
+  println!("With constraints, sorted by proximity to the center of constraints");
+  let solutions = robot.inverse_continuing(&pose, &when_continuing_from_j6_0);
+  dump_solutions(&solutions);
 }
 ```