Struct gear::JointPathPlannerWithIK

pub struct JointPathPlannerWithIK<K> where
    K: InverseKinematicsSolver<f64>,  {
    pub path_planner: DefaultJointPathPlanner<f64>,
    pub ik_solver: K,
}

Joint path planner which supports inverse kinematics

Fields

path_planner: DefaultJointPathPlanner<f64>

Joint Path Planner to be used to find collision free path

Currently, JointPathPlanner<k::RcKinematicChain<f64>, k::LinkTree<f64>> is used.

ik_solver: K

Inverse kinematics solver to find the goal joint angles

Methods

impl<K> JointPathPlannerWithIK<K> where
    K: InverseKinematicsSolver<f64>, 

fn new(path_planner: DefaultJointPathPlanner<f64>, ik_solver: K) -> Self

Create instance from JointPathPlannerBuilder and InverseKinematicsSolver

Example

// Create path planner with loading urdf file and set end link name
let planner = gear::JointPathPlannerBuilder::try_from_urdf_file("sample.urdf", "l_wrist2")
    .unwrap()
    .collision_check_margin(0.01)
    .finalize();
// Create inverse kinematics solver
let solver = gear::JacobianIKSolverBuilder::<f64>::new()
    .num_max_try(1000)
    .allowable_target_distance(0.01)
    .move_epsilon(0.00001)
    .jacobian_move_epsilon(0.001)
    .finalize();
// Create path planner with IK solver
let _planner = gear::JointPathPlannerWithIK::new(planner, solver);

fn urdf_robot(&self) -> &Option<Robot>

fn solve_ik(&mut self, target_pose: &Isometry3<f64>) -> Result<f64>

fn get_colliding_link_names(&self, objects: &Compound3<f64>) -> Vec<String>

fn plan_with_ik(
    &mut self,
    target_pose: &Isometry3<f64>,
    objects: &Compound3<f64>
) -> Result<Vec<Vec<f64>>>

fn plan_joints(
    &mut self,
    start_angles: &[f64],
    goal_angles: &[f64],
    objects: &Compound3<f64>
) -> Result<Vec<Vec<f64>>>

Trait Implementations

impl<K> JointContainer<f64> for JointPathPlannerWithIK<K> where
    K: InverseKinematicsSolver<f64>, 

fn set_joint_angles(&mut self, joint_angles: &[f64]) -> Result<(), JointError>

Set the angles of the joints

fn get_joint_angles(&self) -> Vec<f64>

Get the angles of the joints

fn get_joint_limits(&self) -> Vec<Option<Range<f64>>>

Get the limits of the joints, if it exists.

fn get_joint_names(&self) -> Vec<String>

Get the all names of the joints

impl<K> LinkContainer<f64> for JointPathPlannerWithIK<K> where
    K: InverseKinematicsSolver<f64>, 

fn calc_link_transforms(&self) -> Vec<Isometry3<f64>>

Calculate the transforms of all of the links

fn get_link_names(&self) -> Vec<String>

Get the names of the links