Struct gear::CollisionChecker

pub struct CollisionChecker<T> where
    T: RealField,  {
    pub prediction: T,
    pub self_collision_pairs: Vec<(String, String)>,
    // some fields omitted
}

Collision checker for a robot

Fields

prediction: T

margin length for collision check

self_collision_pairs: Vec<(String, String)>

Implementations

impl<T> CollisionChecker<T> where
    T: RealField + SubsetOf<f64>, 

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

Create CollisionChecker from HashMap

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

Create CollisionChecker from urdf_rs::Robot

pub 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://"

pub fn check_env<'a>(
    &'a self,
    robot: &'a Chain<T>,
    target_shape: &'a dyn Shape<T>,
    target_pose: &'a Isometry3<T>
) -> EnvCollisionNames<'_, '_, T>

Check collision between environmental object and returns the names of the link(joint) names

robot: robot model target_shape: Check collision with this shape and the robot target_pose: Check collision with this shape in this pose and the robot

pub fn check_self<'a>(
    &'a self,
    collision_check_robot: &'a Chain<T>,
    self_collision_pairs: &'a [(String, String)]
) -> SelfCollisionPairs<'_, T>

Check self collision and return the names of the link(joint) names

robot: robot model self_collision_pairs: pairs of the names of the link(joint)

Trait Implementations

impl<T: Clone> Clone for CollisionChecker<T> where
    T: RealField, 

pub fn clone(&self) -> CollisionChecker<T>

Returns a copy of the value.

pub fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.