Struct gear::CollisionChecker

pub struct CollisionChecker<T> where
    T: Real,  {
    pub prediction: T,
    // some fields omitted
}

Collision checker for a robot

Fields

prediction: T

margin length for collision check

Methods

impl<T> CollisionChecker<T> where
    T: Real, 

fn new(
    name_collision_model_map: HashMap<String, (ShapeHandle3<T>, Isometry3<T>)>,
    prediction: T
) -> Self

Create CollisionChecker from HashMap

fn from_urdf_robot(urdf_robot: &Robot, prediction: T) -> Self

Create CollisionChecker from urdf_rs::Robot

fn from_urdf_robot_with_base_dir(
    urdf_robot: &Robot,
    base_dir: Option<&Path>,
    prediction: T
) -> Self

Create CollisionChecker from urdf_rs::Robot with base_dir support

base_dir: mesh files are loaded from this dir if the path does not start with "package://"

fn has_any_colliding<R>(
    &self,
    robot: &R,
    target_shape: &Shape3<T>,
    target_pose: &Isometry3<T>
) -> bool where
    R: LinkContainer<T>, 

Check if there are any colliding links

fn get_colliding_link_names<R>(
    &self,
    robot: &R,
    target_shape: &Shape3<T>,
    target_pose: &Isometry3<T>
) -> Vec<String> where
    R: LinkContainer<T>, 

Returns the names which is colliding with the target shape/pose